Astrid

Source Code to impROVise's ROV, Astrid

---

Usage

Important

We use a Raspberry Pi 4 for both the the Poolside and the ROV.

Create a Python Virtual Environment:

python -m venv .venv

Activate the virtual environment:

source .venv/bin/activate

Install dependencies to virtual environment:

python -m pip install -r requirements.txt

Running:

python main.py --poolside --target-ip <TARGET_IP = 127.0.0.1> --target-port <PORT = 8081> --port <PORT = 8080>

python main.py --rov --target-ip <TARGET_IP = 127.0.0.1> --target-port <TARGET_PORT = 8080> --port <PORT = 8081> [OPTIONAL: --simulated] 

Important

target-ip on either end is the IP which data will be sent to. In other words, use the poolside ip for rov, and the ROV ip for poolside. target-port is the port in which to send to, on target-ip. port is the port on which to listen on, on this device.

Tip

• Use --poolside for the code that runs on the computer on the poolside.
• Use --rov for the code that runs on the ROV.
• Use --simulated on the rov to test the software without the actual hardware attached.

---

Hardware

We use a Raspberry Pi 4 onboard our ROV for flight control. This Pi 4 is connected to a I2C PCA9685 board to control our motors and servos. The addresses for this board are defined in consts.py, as well as some other physical quantities such as motor throttles and servo angles. We use Ethernet cable for our tether, and the poolside computer is a Raspberry Pi 4.

---

Licensing

We use an MIT License. (Please see LICENSE text!) Please feel free to use this code to learn!

---

made in scotland with love