300 8. ATMEL AVR OPERATING PARAMETERS AND INTERFACING
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