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Microcontroller Programming and Interfacing Texas Instruments MSP430 by Daniel J. Pack, Steven F. Barrett

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10.1. SUBMERSIBLE ROBOT 317
left
t
hruster
right
thruster
vertical
thruster
power and control
umbilical
left
float
right
float
Figure 10.1: SeaPerch ROV. (Adapted and used with permission of Bohm and Jensen, West Coast
Words Publishing.)
driven by an LTC1157 MOSFET driver coupled to a MTD3055EL power FET. Both the LED
and the motor interfaces were discussed in a previous chapter.
10.1.4 UML ACTIVITY DIAGRAM
The SeaPerch control system UML activity diagram is provided in Figure 10.4. After initializing
ports, the control algorithm is placed in a continuous loop awaiting user input. In response to user
input, the algorithm determines desired direction of ROV travel and asserts appropriate control
signals for the LED and motors.

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