Software
Hi.
I'm in the process of making my own ROV based on the BlueDotRov system, but with my own hull/frame, as I don't have access to a 3D printer. For now, the planned design is a basic sea wolf. (Think tube with thrusters mounted to it.)
As I'm also thinking of adding an manipulator arm, controlled by another bilge pump, which means I need another Cytron module, which again gives me a spare channel.
With that extra channel, I was thinking of expanding the amount of vertical thrusters with one more, to allow for adjusting horisontal tilt. (2 vertical thrusters in front, one in the back)
Only problem: My knowledge in coding is.. Very much not proficient. I can read some, but coding myself is a challenge. For now.
I've looked at the code in Cytron27Aug2019.py and I understand that L/R are left and right forward thrusters and LV/RV is for the vertical thrusters and I understand that I would have to add a section to accommodate for the aft vertical thruster. (Let's just call it AV for Aft Vertical.)
I'm guessing I would have to add this:
DirAV=(Other, available pin(
PwmAV=(Other, available pin)
GPIO.setup(PwmRV,GPIO.OUT)
GPIO.setup(DirRV,GPIO.OUT)
rv=GPIO.PWM(PwmAV,100)
def AV(u):
if(w<=0):
GPIO.output(DirAV,GPIO.HIGH)
av.start(abs(u))
if(w>0):
GPIO.output(DirAV,GPIO.LOW)
av.start(abs(u))
The question is: How much else in the code would I have to change to allow for this to be functional?
I tried looking at ControlServer.py and RPiCamServer.py, but that didn't provide much insight to me, due to my limited knowledge of coding.
Any advice? :)
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