Week of 3/26/12

This week again is pushing to get the sub in the pool to do some general maneuvering and perform some of the sub-tasks. Midway through the week we wired up the necessary circuitry(2x Arduino, 3x motor drivers, solenoid circuit, 2x VRB) to perform these task for the hardware demo. Checking each connection with a multimeter for added security. Upon wiring it was verified that with the two separate VRB's that we would not be able to utilize the kill switch to shut down the entire vehicle. For the time being we would just use the kill switch to shut down the motor drivers. It was later decided that a wire from the 32V VRB would power the 16V VRB, therefore the kill switch would shut down the entire system. Continuing with the setup, we placed the rack with circuits in place into the sub. We then sealed the sub and connected each wire to Seacon connectors and with the flip of the kill switch, there was an arc on the VRB. The reason for this is still unclear since multimeter showed all inputs/outputs were correct. We then decided to end on that note and prepare for the following days.
For the demo we decided to temporarily use the back-up VRB. Upon wiring the circuits the night before the demo, all four motor drivers(including 1 back-up) ceased working. It was then established that the utilization of only two wires controlling the thrusters from the motor drivers would not work and three wires would be used in the future.