Help on first rov control system

[Dented]

Hi, dented here!

I am starting my first rov project and have some questions...

1. Are converted bilge pumps brushed or brushless?

2. Would I need an esc for them?

3. in the link below it says that I should connect my thrusters straight to the relays, how would I put an esc on in that setup... Preferably I don't want to use one but if it is necessary I will.
http://www.homebuiltrovs.com/howtorelaywiringdpdt.html
4. Also in the link if I was using bilge pumps could I just directly connect them like shown?

Thanks

T

[jpWA]

Bilge pumps are brushed, most brushless motors that you see are for RC helicopters and need ESCs.

If you use relays, you will need to build h-bridge circuits using 4 relays for each motor, to get forward and backward control.

Many ESCs have reverse but the ones for brushed motors are hard to come by. You either need a microcontroller like an arduino to control them or an RC transmitter and receiver.

[aquajack]

You may want to design your own H-Bridge with MOSFET transistors. That will probably help you learn the most, and it is more cost effective.

[tcholas]

Hi, dented here!

I am starting my first rov project and have some questions...

1. Are converted bilge pumps brushed or brushless?

2. Would I need an esc for them?

3. in the link below it says that I should connect my thrusters straight to the relays, how would I put an esc on in that setup... Preferably I don't want to use one but if it is necessary I will.
http://www.homebuiltrovs.com/howtorelaywiringdpdt.html
4. Also in the link if I was using bilge pumps could I just directly connect them like shown?

Thanks

T

Bilge Pump Control

Here is the bilge pump control system using the ESC BTS7960B and Arduino Uno.

Bilge Pumps do need ESCs to work.
I recommend these, they worked really well for me:
http://www.ebay.com/itm/Semiconductor-B ... 1e84cfa61f

Feel free to ask anything, I'm glad if I can help, as much as I need help in a lot of things.

https://www.youtube.com/watch?v=wd_jjNh75_4

[a_shorething]

@tcholas, technically that's not an ESC, it's a dual H-bridge isn't it?

It's the same one I'm planning to use.

I checked out your youtube vid and it looks good. Is the Arduino code posted anywhere for that? Any chance I could get a copy of it?

Bilge Pump Control

Here is the bilge pump control system using the ESC BTS7960B and Arduino Uno.

Bilge Pumps do need ESCs to work.
I recommend these, they worked really well for me:
http://www.ebay.com/itm/Semiconductor-B ... 1e84cfa61f

Feel free to ask anything, I'm glad if I can help, as much as I need help in a lot of things.

https://www.youtube.com/watch?v=wd_jjNh75_4

[tcholas]

Yes, you are right, it's a dual H-bridge.
The code I wrote using Bill Porter library, found in http://www.billporter.info and with a lot of help from this forum.
The code is exactly that was in Arduino. The comments are in Portuguese, any help you can use google translate.
It is not the final version

******************************************************************************************************************************************************************************************************

#include <PS2X_lib.h> //for v1.6


/******************************************************************
* set pins connected to PS2 controller:
* - 1e column: original
* - 2e colmun: Stef?
* replace pin numbers by the ones you use
******************************************************************/
#define PS2_DAT 7 //14
#define PS2_CMD 6 //15
#define PS2_SEL 5 //16
#define PS2_CLK 3 //17

/******************************************************************
* select modes of PS2 controller:
* - pressures = analog reading of push-butttons
* - rumble = motor rumbling
* uncomment 1 of the lines for each mode selection
******************************************************************/
#define pressures true
//#define pressures false
#define rumble true
//#define rumble false

PS2X ps2x; // create PS2 Controller Class

//right now, the library does NOT support hot pluggable controllers, meaning
//you must always either restart your Arduino after you connect the controller,
//or call config_gamepad(pins) again after connecting the controller.

int error = 0;
byte type = 0;
byte vibrate = 0;

/*Variáveis abaixo utilizadas para a propulsão dos thrusters*/
int RSYVal = 0;
int LSYVal = 0;
int motor_speed = 12;
int motor_speed_2 = 13;
int led1 = 12; /* led simulando thruster da direita*/
int led2 = 13; /* led simulando thruster da esquerda*/
int brightness = 0; /* Brilho simulando velocidade do motor*/
int brightness_2 = 0;
int LPWM_Output = 9;
int RPWM_Output = 10;

void setup(){


Serial.begin(57600);


pinMode(motor_speed, OUTPUT);
pinMode(motor_speed_2, OUTPUT);
pinMode(led1, OUTPUT);
pinMode(led2, OUTPUT);
pinMode(RPWM_Output, OUTPUT);
pinMode(LPWM_Output, OUTPUT);

delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it

//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************

//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);

if(error == 0){
Serial.print("Found Controller, configured successful ");
Serial.print("pressures = ");
if (pressures)
Serial.println("true ");
else
Serial.println("false");
Serial.print("rumble = ");
if (rumble)
Serial.println("true)");
else
Serial.println("false");
Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
Serial.println("holding L1 or R1 will print out the analog stick values.");
Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");
}
else if(error == 1)
Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");

else if(error == 2)
Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");

else if(error == 3)
Serial.println("Controller refusing to enter Pressures mode, may not support it. ");

// Serial.print(ps2x.Analog(1), HEX);

type = ps2x.readType();
switch(type) {
case 0:
Serial.print("Unknown Controller type found ");
break;
case 1:
Serial.print("DualShock Controller found ");
break;
case 2:
Serial.print("GuitarHero Controller found ");
break;
case 3:
Serial.print("Wireless Sony DualShock Controller found ");
break;
}
}

void loop() {


/* You must Read Gamepad to get new values and set vibration values
ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
if you don't enable the rumble, use ps2x.read_gamepad(); with no values
You should call this at least once a second
*/
if(error == 1) //skip loop if no controller found
return;

if(type == 2){
//Guitar Hero Controller
}

else { //DualShock Controller
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed

if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
Serial.println("Start is being held");

if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");

if(ps2x.Button(PSB_PAD_UP)) { //will be TRUE as long as button is pressed
Serial.print("Up held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
}

vibrate = ps2x.Analog(PSAB_CROSS); //this will set the large motor vibrate speed based on how hard you press the blue (X) button
if (ps2x.NewButtonState()) { //will be TRUE if any button changes state (on to off, or off to on)
if(ps2x.Button(PSB_L3))
Serial.println("L3 pressed");
if(ps2x.Button(PSB_R3))
Serial.println("R3 pressed");
if(ps2x.Button(PSB_L2))
Serial.println("L2 pressed");
if(ps2x.Button(PSB_R2))
Serial.println("R2 pressed");
if(ps2x.Button(PSB_TRIANGLE))
Serial.println("Triangle pressed");
}

if(ps2x.ButtonPressed(PSB_CIRCLE)) //will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
if(ps2x.NewButtonState(PSB_CROSS)) //will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
if(ps2x.ButtonReleased(PSB_SQUARE)) //will be TRUE if button was JUST released
Serial.println("Square just released");

if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE
Serial.print("Stick Values:");
Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX
Serial.print(",");
Serial.print(ps2x.Analog(PSS_LX), DEC);
Serial.print(",");
Serial.print(ps2x.Analog(PSS_RY), DEC);
Serial.print(",");
Serial.println(ps2x.Analog(PSS_RX), DEC);
}

/* No trecho abaixo (até a chave do último 'else') é feita a conversão do valor do bit
de posição com o valor da velocidade do motor, no sentido direto e reverso. Para visualização do efeito, um aumento
no brilho do led foi inserido. O pino do led é declarado como o mesmo do motor.
*/


/* ************* Início do controle do motor da direita ******************** */


LSYVal = ps2x.Analog(PSS_LY); //LSYVal = Left Stick Y Value; controlará direção do motor da esquerda.
RSYVal = ps2x.Analog(PSS_RY); //RSYVal = Right Stick Y Value; controlará direção do motor da direita;

if(RSYVal<100){ // Sentido Direto
Serial.println("O valor do bit na posição atual e: ");
Serial.println(RSYVal, DEC);
int motor_speed = map(RSYVal,0,99,99,0);
Serial.println("A velocidade de 0 a 99 bits atual do thruster da direita, no sentido direto e: ");
Serial.println(motor_speed, DEC);
digitalWrite(led1, LOW);
byte brightness;
brightness = motor_speed;
analogWrite(led1, brightness);

int forwardPWM = motor_speed;
analogWrite(LPWM_Output, forwardPWM);
analogWrite(RPWM_Output, 0);


}

else if(RSYVal>=100 && RSYVal<156){
digitalWrite(led1, LOW);
// Serial.println("Analogico na posicao Neutra!!");
}

else{ // Sentido Reverso
Serial.println("O valor do bit na posição atual e: ");
Serial.println(RSYVal, DEC); //analógico direito
int motor_speed = map(RSYVal,156,255,0,99);
Serial.println("A velocidade de 0 a 99 bits atual do thruster da direita, no sentido reverso e: ");
Serial.println(motor_speed, DEC);
digitalWrite(led1, LOW);
byte brightness;
brightness = motor_speed;
analogWrite(led1, brightness);

int reversePWM = motor_speed;
analogWrite(LPWM_Output, 0);
analogWrite(RPWM_Output, reversePWM);

}

/* ************* Fim do controle do motor da direita ******************** */


/* ************* Início do controle do motor da esquerda ******************** */

if(LSYVal<100){ // Sentido Direto
Serial.println("O valor do bit na posição atual e: ");
Serial.println(LSYVal, DEC); //analógico esquerdo
int motor_speed_2 = map(LSYVal,0,99,99,0);
Serial.println("A velocidade de 0 a 99 bits atual do thruster da direita, no sentido direto e: ");
Serial.println(motor_speed_2, DEC);
digitalWrite(led2, LOW);
byte brightness_2;
brightness_2 = motor_speed_2;
analogWrite(led2, brightness_2);
}

else if(LSYVal>=100 && LSYVal<156){
digitalWrite(led2, LOW);
// Serial.println("Analogico na posicao Neutra!!");
}

else{ // Sentido Reverso
Serial.println("O valor do bit na posição atual e: ");
Serial.println(LSYVal, DEC); //analógico direito
int motor_speed_2 = map(LSYVal,156,255,0,99);
Serial.println("A velocidade de 0 a 99 bits atual do thruster da direita, no sentido reverso e: ");
Serial.println(motor_speed_2, DEC);
digitalWrite(led2, LOW);
byte brightness_2;
brightness_2 = motor_speed_2;
analogWrite(led2, brightness_2);
}
/******************* Fim do controle do motor da esquerda ****************/
}
}
******************************************************************************************************************************************************************************************************
[quote="a_shorething"]@tcholas, technically that's not an ESC, it's a dual H-bridge isn't it?

It's the same one I'm planning to use.

I checked out your youtube vid and it looks good. Is the Arduino code posted anywhere for that? Any chance I could get a copy of it?

[quote="tcholas"]

[a_shorething]

Hey thanks man!

I'll give this a shot. Much of it looks like it has to do with the PS2 controller setup and I have a different control mechanism, but I'll take what I can get for the Dual-H control.

Thanks again. (and my daughter is dating a guy that speaks Portuguese, so I'll call him if I need a hand.

[Rebellion]

Bilge Pump Control

Here is the bilge pump control system using the ESC BTS7960B and Arduino Uno.

Bilge Pumps do need ESCs to work.
I recommend these, they worked really well for me:
http://www.ebay.com/itm/Semiconductor-B ... 1e84cfa61f

Feel free to ask anything, I'm glad if I can help, as much as I need help in a lot of things.

https://www.youtube.com/watch?v=wd_jjNh75_4

Ideal, this is exactly what I'm planning to use for my first ROV build; since i already have the Arduino uno, and a PS2 remote.

My issue is that i don't really know much about H-Bridges (only what I've read in the last day or so), and I haven't ran more than one motor from an Arduino before.
My design involves 5 motors, with all-but-two of them needing to be able to function independently. In this scenario, how many motors can i run from each H-Bridge?

[dna1990]

How about one of these modules...more costly that DIY Hbridges, but very easy to interface to Arduino.

http://www.pololu.com/category/11/brush ... or-drivers