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A Raspberry-Pi based control has been implemented.

Both a graphic interface and a joystick mode can be used to control the ROV.

 

 

 

 

PC

 

The program running on the PC side is organized in four packages:
- MainSubmarine
- Frame
- EDC
- DataManager

and every package contains one or more classes;
1) MainSubmarine contains one class.
        Main: this section creates the basic GUI for controls and settings;
2) Frame contains two classes.
        JFrameSubmarineCamera: this class will permit to acquire video from camera*;
        JFrameSubmarineState: this class shows current states of all motors, which are send by RasPi;
3) EDC contains two classes.
        EdcSubMarineControl (thread 0): this class establishes a TCP/IP connection between PC and RasPi;
        SendDataClass (thread 1): this class send commands from PC to RasPi;
4) DataManager contains two classes: one class is used to send data from PC to RasPi and the other one is used to receive data from RasPi;
    
        
* Not currently implemented [Feb 2014]

 

 

RASPBERRY

The program running on the RasPi side is organized in five packages:
- MainSubmarineRasPi
- EDC
- DataManager
- Control
- Arduino

and every package contains one or more classes;
1) MainSubmarineRasPi contains one class: these establish the communication with the PC.
2) EDC contains two classes.
        EdcSubMarineControlOnRasPi (thread 0): this class establishes a TCP/IP connection between PC and RasPi;
        SendDataClassRasPi (thread 1): this class send commands from RasPi to PC;
3) DataManager contains two classes: one class is used to send data from RasPi to PC and the other one is used to receive data from PC.
4) Control contains three classes.
        GPIOControl (thread 2): this class sets and verifies every GPIO pin of the RasPi;
        CreationCommandRelay (thread 3): this class translates a string into a corresponding GPIO pin;
        HelperControClass (thread 4): this class permits the user to control the ROV using a shell;
5) Arduino contains one class.
        Serial: this class permits serial communication with Arduino

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Source files:

 

 

 

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© Colonna S. - Cheng Hivai R. - Cossettini A. - Rollo T. - Locatelli A. - Scarsini M. - Università degli Studi di Udine - a.a. 2012/2013