Communications schematic

Power Schematic

Onboard Computer

The onboard computer is a Premio Fanless mini pc part no: RCO-1000-EHL-J6413-20-P. It is running ubuntu 20.04 with ROS1 Noetic and ROS2 Foxy.

The full configuration can be found here: Premio Edge PC configuration

NOTE: at this time we have not been able to communicate through COM3 and COM4. As a temporary fix we have been using a USB-Serial adapter for additional serial ports.

Navigation

The navigation system used is the Microstrain 3DM-GQ7. This device requires some custom wiring not fully described in the diagram above. Please see the Microstrain Configuration page for details.

Shore Station

The shore station consists of Ubiquiti Bullet, an Edge Router, a Field Laptop, and a Logitech gamepad. Additional PCs or devices may be connected to ports ETH 2 and ETH 3 on the shore EdgeRoutter.

Network

The network devices used are:

The devices are configured as follows:

The shore Edge Router is currently configured as a gateway and administers DHCP
- This device maps static IPs to all the devices on the system
The TREVOR Edge Router is in switch mode with POE out turned on for port 4
The Shore Bullet is in bridge mode and is functioning as the access point for the WLAN
The TREVOR Bullet is also in bridge mode and functions as a client

Motor Controller

The motor controller found on the vehicle is manufactured by Roboteq. The operators manual can be found here:
Motor Controller Manual

The syntax required for communication with the motor controller can be found in the user manual and is sumarized as follows:

Syntax: !Mnn

Where M=
- A: channel 1, forward direction
- a: channel 1, reverse direction
- B: channel 2, forward direction
- b: channel 2, reverse direction
Where nn= Speed or position value in 2 Hexadecimal digits from 00 to 7F (0 to 127 in decimal). Refer to the image below for direct conversions between hexadecimal and decimal.

Examples of correctly formatted commands are:

Motor 1 100% power forward: !A7F
Motor 2 50% power backward: !b3F

Hulls and Mounts

The mounts were sent to a third-party manufacturer called SendCutSend. Find the DXF file that can be submitted here:
DXF

If you wish to modify or rebuild the part, find a 3D PDF and drawing screenshot below:
3D PDF

The mounts were manufactured out of 0.25" 5052 Aluminium.

The following parts were ordered from McMaster Carr for use as fasteners:

Part Name	Quantity	Link
6061 Al Pipes	~1 per mount, cut to size	McMaster
Bolts	4 per mount
Lock Washers	4 per mount

The pipes were cut to length and welded into place. These attatch the hulls to the vehicle.

Multibeam Sonar Mount

The entire multibeam mounting system consists of a mounting plate and a series of 8020 rails/brackets. This system was mounted to the lower I-beam structure of the USV. The parts used for the 8020 rails can be found in the table below.

Part No.	Qty	Link
3030-Lite (4')	1	Link
4338	1	Link
4334	3	Link
1515 (14")	1	Link

The mount plate was designed in SolidWorks and manufactured out of 0.25" 5052 Aluminium by SendCutSend, a third-party manufacturer. Two spaces were also used to allow room for fasteners. The design files can be found below:

3D PDF
DXF