Drivers
This page documents all the drivers between the computer and the electronics. The drivers are written in C++ and are located in the drivers folder.
For movement, the AUV will operate autonomously based either on camera data or a predetermined script that will direct the movement of the AUV. To control the movement of the AUV, a thruster mapper along with the PCA96585PW PWM Driver chip is used. The raspberry pi communicates with the PCA96585PW via I2C communication to control the pulse of the PWM signals output from the chip. To control the current configuration of 6 thrusters, a total of 6 PWM signals is sent from the chip with the possibility to control up to 8 thrusters if desired. The PWM signals from the chip are directly connected to the corresponding ESC (electronic speed controller) for each thruster, which is then responsible for controlling the speed and direction of the thruster.
Driver Tree