Week 15

Using the existing servo code I changed  the program to move the control arms.

This is the rudder control program

#include <Servo.h>

Servo rudder; // create servo object to control a servo
// a maximum of eight servo objects can be created

int pos = 0; // variable to store the servo position

void setup()
{
rudder.attach(6); // attaches the servo on pin 6 to the servo object
}

void loop()
{
pos = 40; // Setting the rudder to it center position
rudder.write(pos);

delay(5000);
for(pos = 40; pos >= 0; pos -= 2) //Makes the rudder move from rest to full port turn
{
rudder.write(pos);
delay(500);
}

delay(5000);

for(pos = 0; pos <= 40; pos += 2){ //Returns the rudder to center position
rudder.write(pos);
delay(500);
}

for(pos = 40; pos <= 64; pos += 2){ //Makes rudder turn to full starboard
rudder.write(pos);
delay(500);
}

delay(5000);

for(pos = 64; pos >= 40; pos -= 2){ //Makes rudder turn to full starboard
rudder.write(pos);
delay(500);
}

delay(10000);

}

A similar program is run for the dive planes but more importantly I have also writen the code for the motor control

#include <Servo.h>

Servo myservo;

void arm(){
// arm the speed controller, modify as necessary for your ESC
setSpeed(50); // this is the value for rest for the motor
delay(5000); //delay 5 second, some speed controllers may need longer
}

void setSpeed(int speed){
// speed is from 0 to 100 where 0 is off and 100 is maximum speed
//the following maps speed values of 0-100 to angles from 0-180,
// some speed controllers may need different values, see the ESC instructions
int angle = map(speed, 0, 100, 0, 180);
myservo.write(angle);
}

void setup(){
myservo.attach(9);
arm();

}
void loop(){
int speed;

speed = 68; /*sets the speed variable before running the setSpeed function.
A setting of 50 is rest for the motor and the speed control.
values above 50 move it forward and values less then 50 move it in reverse.*/
setSpeed(speed);
delay(5000);
setSpeed(0);
delay(5000); // stop the motor for 5 seconds
}

Combining these to is the next step and then we can seal the subs component box and we will be ready for the ocean…..or a bath tub.