Checkout of the MATE Summer Institute ROV Controller Hardware & Software Setup Scott Fraser Long Beach City College

Checkout of the ROV Controller Required Hardware Components 1. Assembled ROV Control Board 2. USB to Serial converter 3. Power Supply; 0 to 12 Volts or 0 to 48 Volts 4. Laptop Computer 5. USB Joystick – Logitech Rumblepad 6. Parallax PropScope – USB Oscilloscope or any other oscilloscope

Checkout of the ROV Controller Required Software Components 1. Parallax BasicStamp Editor & Development System 2. StampPlot version or greater 3. Parallax PropScope Software 4. Optional: EagleCad for viewing board layouts 5. Optional: PDF viewer for pdf's of board layouts

Checkout of the MATE Summer Institute ROV Controller POWER SUPPLY Scott Fraser Long Beach City College

Checkout of the ROV Controller Section 1 – Power Supply 1-1. Supply Voltage – PropScope set to 10V/div; 100uS/div Input varied between 0 V and 40V Measured at Supply input - J REGOUT signal – PropScope set to 10v/div; 100uS/div Input varied between 0 V and 40V Measured at top of D Voltage Reference – PropScope same setting Input set to 35 Volts Measured at left side of R V Regulator Output – PropScope same setting. Measured at right side of R43

Checkout of the ROV Controller Section 1 – Power Supply (cont.) V Regulator Output – PropScope same setting Measured at bottom of C LED 15 – Vin Status 1-7. LED 16 – +12V Status 1-8. LED 17 – +5V Status

Checkout of the MATE Summer Institute ROV Controller COMMUNICATION Scott Fraser Long Beach City College

Checkout of the ROV Controller Section 2 – Communication 2-1. Using BASIC Stamp - Select RUN – Identify (ctrl+I) Verify that the Basic Stamp 2sx is found 2-2. Serial communication – Select the file ROV10-Full.bs2 Select RUN – Run (ctrl+R) Verify that the program loads without errors 2-3. Message Screen Screen should display a number of commands that will be sent to StampPlot 2-4. Close the Message Screen

Checkout of the ROV Controller Section 2 – Communication (cont.) 2-5. Using StampPlot Click on the “Connect to Stamp on COM Port” icon Verify that displays are created Operate the joystick left control. Verify that the display changes 2-7. Operate buttons 6 & 8 on the joystick control Text display should change between OFF – UP – OFF - DOWN 2-8. LED 2, 5 & 6 should be blinking at approx 2.5x/sec 2-9. LED 3 & 4 should be slightly flickering

Checkout of the ROV Controller Section 2 – Communication (cont.) Serial Communication Signal - RX PropScope set to 2V/div; 500uS/div; Trig=2V Measured at SV Serial Communication Signal - TX PropScope set to 2V/div; 500uS/div; Trig=2V Measured at SV Serial Com. between BasicStamp and ROVPIC PropScope set to 2V/div; 500uS/div; Trig=2V Measured at via left of XC2 and below ANALOG IN text. Above LED 6

Checkout of the MATE Summer Institute ROV Controller LEDS & H-BRIDGE Scott Fraser Long Beach City College

Checkout of the ROV Controller Section 3 – LED Description 3-1. LED 1 & 2 – Driven by BasicStamp as programmed 3-2. LED 3 & 4 – BasicStamp Serial RX & TX lines 3-3. LED 6 & 7 – Driven by ROVPIC as communication with the BasicStamp takes place 3-4. H-Bridge LEDs. The sets of LEDs indicate motor Output and direction. Brightness for output and Color for direction. LED 7 & 8 – Motor 1 LED 9 & 10 Motor 2 LED 11 & 12 Motor 3 LED 13 & 14 Motor 4

Checkout of the ROV Controller Section 4 – H-Bridge Signals 4-1. H-Bridge PWM input – Operate Left Joystick PropScope 2V/div, 100uS/div, Trig = 2V Probe HB H-Bridge Direction input – Operate Left Joystick PropScope 2V/div, 100uS/div, Trig = 0ff Probe HB H-Bridge Output – Operate Left Joystick PropScope 20V/div, 100uS/div, Trig = 5V Probe J11-1 & J11-2