All the pictures from the finished project.

Included are some final pictures from the work on Monday, Tuesday and Wednesday night as we were finishing up the project before the deadline.  

- JB

Final Touch Ups Before the Competition

The team worked into the morning to make the final touch ups before competition day.  The project has been fun and a great experience for all of us.  We all plan to continue to develop or product as Team SubZero.

We never watched Godzilla...

- ZM

The end is near

Tonight the "little" things were worked on as time crunches down to the due date.

Below is a picture of possible enclosures to protect the motor and propellers from striking the side of a pool, rock, or any harmful object.

Pipe is being cut to size so that the enclosure can be mounted.

Holes were drilled into the frame so that the enclosure can easily be bolted down.

 The bolts are shown from the bottom after securing the enclosure.

Here is a side view showing that the enclosure is securely fastened and that the bolts go through the pipe completely.  

Lastly, a top view to put the project coming together in perspective.

- ZM

Much More Progress

Our team has been working hard trying to get this project ready for presentation on Thursday.

Here is a picture of the motors connected to the motorshield through the serial port. 

This is a picture of the hot glue drying on the motors which was used to waterproof them.

This is the original setup that was used to test the I2C communication between the two Arduinos.

Here is the button set up that was used to experiment with reading a button state and communicating with the slave device to turn on an LED.

You can see that the LED is lit on the slave device when the button is pushed and read on the master device.  

Now we need to finish off the code and find a gasket...

-WK

Epoxying the Enclosure

Here are pictures of the process of sealing the enclosure with epoxy.

 Dear lord it took long to apply each layer...

-WK

PS2 Controller Interfacing with Arduino

To start the interfacing between the Arduino and the PS2 controller. I downloaded Bill Porter's PS2x library. Then I added some code to make it so when the "Select" and "Start" button were pushed they lit up a corresponding LED.

Here you can see when the "Select" button is pushed the bottom LED lights up.

Here you can see when the "Start" button is pushed the top LED lights up.

 Here the "Select" and "Start" button are being pushed together.

Here is a setup I created to show that when a certain button on the D-Pad was pushed a corresponding LED would light up. The top red LEDs are for "Select" and "Start" buttons.

 Here is a close up of the circuit used to interface the PS2 controller and the Arduino.

Here are some videos of how the buttons on the PS2 controller are going to control motors on the ROV.

Here are the wiring diagrams used to wire the PS2 controller to the Arduino.

Laser Cutting the Prototype Enclosure

We spent some time on Monday working with the TA to help us laser cut the layers of acrylic to make our prototype enclosure. You can see pictures of that below.

Here is the green acrylic being laser cut. 

Here is the blue acrylic being laser cut. 

The green acrylic came out beautifully. 

Here is the enclosure being held together with the #8-32 bolts. They are going to the wrong way then the design says but thats just to hold it together right now. This gives a picture of what the final product will look like. 

A close up of how the DB9 serial connectors will feed through the top part of the case. 

The ethernet cables will feed through the slots built in like this. They will be epoxied in place to make sure no water is let in. 

Next part is to epoxy the bottom layers together and find a gasket for it!

-WK