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

2. 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

3. Checkout of the ROV Controller Required Software Components 1. Parallax BasicStamp Editor & Development System 2. StampPlot version 3.8.5 or greater 3. Parallax PropScope Software 4. Optional: EagleCad for viewing board layouts 5. Optional: PDF viewer for pdf's of board layouts

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

5. 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 - J14 1-2. REGOUT signal – PropScope set to 10v/div; 100uS/div Input varied between 0 V and 40V Measured at top of D7 1-3. Voltage Reference – PropScope same setting Input set to 35 Volts Measured at left side of R44 1-4. 12V Regulator Output – PropScope same setting. Measured at right side of R43

6. Checkout of the ROV Controller Section 1 – Power Supply (cont.) 1-5. +5V Regulator Output – PropScope same setting Measured at bottom of C20 1-6. LED 15 – Vin Status 1-7. LED 16 – +12V Status 1-8. LED 17 – +5V Status

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

8. 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

9. 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. 2-6. 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

10. Checkout of the ROV Controller Section 2 – Communication (cont.) 2-10. Serial Communication Signal - RX PropScope set to 2V/div; 500uS/div; Trig=2V Measured at SV1 2-11. Serial Communication Signal - TX PropScope set to 2V/div; 500uS/div; Trig=2V Measured at SV2 2-12. 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

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

12. 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

13. 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 HB2-5 4-2. H-Bridge Direction input – Operate Left Joystick PropScope 2V/div, 100uS/div, Trig = 0ff Probe HB2-3 4-3. H-Bridge Output – Operate Left Joystick PropScope 20V/div, 100uS/div, Trig = 5V Probe J11-1 & J11-2