I ran a lot of tests this week. The easiest of which was testing the Doppler. It helps the sub navigate while underwater. I just had to hook it up to a computer and run the test. The computer took care of the rest and was done in about a minute. The harder test is working with the motor controller. The thrusters are being upgraded and will be controlled in a new way. With that, the motor controllers are being changed. I spent my time this week running through a testing protocol. Each time it did get a little better. Upgrading the power supply was a big help. Some of the instructions are a little vague and I don’t know much about the thrusters themselves so I asked one of the engineers who has worked through the program to help me with it. Hopefully we can get together and get the motor controller fully functional!
The Doppler sitting on top of a wood block. This is normally mounted facing downward at the tail of the sub.
The motor testing set up. At the far left is the laptop that was running the tests. Next to that is the thruster. Then the bunch of wires and the small black box is the motor controller. On the right is the power supply.