Surface Control

1
Surface Control

• Graphical User Interface
• Java language used
• Display libraries .awt, .awt.event,
  .javax.swing
• Data transfer libraries .io .net libraries
• Direct telnet connection to microcontroller
  sub-sea
• Limited space on data line from surface to sub-sea

2
Sub-Sea Control

• BASIC Stamp Microcontroller
• 2SX Chip
• 50MHz processor speed
• Executes 10,000 instructions/sec
• Loops to receive commands
• Connected to the telemetry microcontroller
• Controls
• Carousel motor
• Gripper arm motors
• Suction thruster

3
Carousel Module

• Receives desired carousel number
• Rotation logic done on Stamp
• Hall Effect Sensors
• 1 positioning
• 2 rotation speed control
• PWM output
• Free rotation
• Surface use
• Hold samples at the end of the mission
• Rotation Speed Control
• Hall input to check speed of rotation
• Preset valid speed range of rotation

4
Rotation Speed Control Code

• sendpwm
• PULSIN 2, 1, Hall
• IF NOT (Hall gt 4000) (Duty lt 255) THEN next1
• Duty Duty 1
• next1
• IF NOT (Hall lt 3500) (Duty gt 10) THEN next2
• Duty Duty - 1
• next2
• PWM 5, Duty, 10
• RETURN

5
Sampling Pump

• Receives power percentage
• Needs an analog output to drive suction thruster
• Digital-to-analog converter (DAC)
• Digital potentiometer DS1267
• Only receives change in power percentage
• Store values

6
Gripper Arm

• Built by ExETER IV
• One degree of freedom
• 7 lbs. of lifting capacity
• Brushed motor
• We Added
• Driver Circuitry (H-Bridge)
• BASIC Stamp Control (PWM)
• New motor