300 8. ATMEL AVR OPERATING PARAMETERS AND INTERFACING
Seaperch
Control System
five position
joystick
direction
motor
control
ROV
direction
motor
assertion
motor
interface
left
thruster
vertical
thruster
right
thruster
light emitting
diodes (LEDs)
interface
LED
assertion
left
LED
vertical
LED
right
LED
Figure 8.29: SeaPerch ROV structure chart.
All power and control circuitry will be maintained in a surface support platform.
8.12.2 STRUCTURE CHART
The Sea Perch structure chart is provided in Figure 8.29. As can be seen in the figure, the SeaPerch
control system will accept input from the five position joystick (left, right, select, up and down). We
will use the joystick shield available from SparkFun Electronics and illustrated in Figure 8.30. The
joystick schematic and connections to the Arduino UNO R3 are provided in Figure 8.31.
In response to user joystick input, the SeaPerch control algorithm will issue a control command
indicating desired ROV direction. In response to this desired direction command, the motor control
algorithm will issue control signals to assert the appropriate motors and LEDs.
8.12.3 CIRCUIT DIAGRAM
The circuit diagram for the SeaPerch control system is provided in Figure 8.31. The Arduino
compatible joystick shield is used to select desired ROV direction. There are three LED interface

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