This code is for the Arduino Due. The Arduino Due controls the submarine's thrusters, and some sensors.
The pins used by each controller are set in PinMap.h.
| name | index | parameter | type | output | type | note |
|---|---|---|---|---|---|---|
| Kill Switch | 0 | isActive 0=inactive 1=active | byte | When kill switch goes active then all controllers are killed. | ||
| Move Thrust | 1 | power 1000-2000 | ushort | A value of 1500 will set the motors to idle (off). | ||
| Strafe Thrust | 2 | power 1000-2000 | ushort | A value of 1500 will set the motors to idle (off). | ||
| Dive Thrust | 3 | power 1000-2000 | ushort | A value of 1500 will set the motors to idle (off). | ||
| Yaw Thrust | 4 | power 1000-2000 | ushort | A value of 1500 will set the motors to idle (off). | ||
| Pitch Thrust | 5 | power 1000-2000 | ushort | A value of 1500 will set the motors to idle (off). | ||
| Roll Thrust | 6 | power 1000-2000 | ushort | A value of 1500 will set the motors to idle (off). | ||
| Esc Power | 7 | toggle 0=off 1=on | byte | |||
| Led Power | 8 | Blinks led twice for 250ms. | ||||
| Ping | 9 | "I'm Here!"\0 | string | |||
| Light Power | 10 | toggle 0=off 1=on | byte | |||
| Voltage | 11 | voltage (V) | double | |||
| Start | 12 | isActive | byte | This controller does nothing but toggle its internal state. |
Warning: The first byte sent to the Arduino is destroyed.
Data sent to serial
["Ready!"\0]
[byte: controller index][data: data for controller][...][no new line]
[data: raw data from controller][no new line]
The project is currently not setup to be used with PlatformIO.
Therefore the Arduino needs to be programmed using the Arduino IDE.
Load the ArduinoController folder in the Arduino IDE, and then upload it to the Arduino.
It is recommended to upload to the Arduino Due using the programming port. The programming port is the closest USB port to the DC power in.