Software Family for Amethyst AUV Platform
working with Raspberry Pi and Arduinos
NOW IN ALMOST READY ALFA
Vector Dolphin is modular software family for almost any autonomous vehicle or station. Is primary developed for Amethyst AUV Platform, but can be easily adapted for any other robotic craft. V-Dolphin using power of Linux/Python based microcomputer like Raspberry Pi ZERO and reliability of Arduino/Wiring microcontrollers. Those two worlds in combination creates almost endless possibilities for connecting of motors, servos, antennas, sensors of various kinds, modifications, brands or communication protocols.
1. ALFA SCRIPT
Brain of Vector Dolphin System. Python3 program running by Raspberry Pi ZERO. Computing all autonomy navigation upon sensors data. Processing camera output.
2. RADIO MODULE
Arduino Wiring sketch. Keeping radio connection with shore base. Can be auto switch off when submerged.
3. MOTORS MODULE
Arduino Wiring sketch. With Arduino Pro Mini controll up to 6 motors or servos in any needed combination. With Arduino MEGA up to 10 motors or servos in combinantion.
4. SENSORS MODULE
Arduino Wiring sketch. Interfacing wide range of available sensors. Acquiring all sensors data for navigation.
5. GPS MODULE
Arduino Wiring sketch. Aquiring all GPS data. Can be switch off when submerged.
6. AUX SENSOR MODULE
Arduino Wiring sketch. Interfacing sensors needing separate master-slave I2C bus or 3.3V power.
7. USB RADIO MODULE
Arduino Wiring sketch. Getting commands from any notebook and transmit them to AUV. Receiving telemetry from AUV and passing it back to PC.
8. TAXI CONTROLL PANEL
GUI created in Proccessing visualise data and controll the AUV. Simplier equivalent to ArduPilot's Ground Controll
TAXI - simplier equivalent to ArduPilot's groung controll.
LINUX / MAC / WIN
Last update: 1.5.2021