Lập trình điều khiển UUV(ROV)-robot dưới nước bằng bộ thu phát radio PS2 với Arduino Nano

1. Thiết bị:
+ 1 Khung robot dưới nước (2 chong chóng nằm ngang và 2 chong chóng thẳng đứng)
http://www.instructables.com/id/Underwater-ROV/
+ 4 Mạch điều tốc động cơ ESC:
- ESCVL: ESC Vertical Left;
- ESCVR: ESC Vertical Right;
- ESCHL: ESC Horizontal Left;
- ESCHR: ESC Horizontal Right;
+ 4 Motor DC kèm chong chóng.
+ 1 Bộ thu phát radio PS2.
+ 1 Đế chuyển giao tiếp điều áp 3.3/5V để bảo vệ PS2.
+ 2 Board Arduino Nano
+ 1 Màn hình LCD 2x16
+ 1 Mạch chuyển giao tiếp LCD1602,1604,2004 sang I2C.
+ 1 camera digital recorder
+ 1 servo motor cho đế camera
+ 1 cuộn cáp CAT5 100 mét để truyền dữ liệu lên trạm trên mặt nước

2. Chọn Board:
+ Cài đặt phân mêm Arduino IDE v.1.8.4.
+ Cài đặt drivers:
- đối với win 32bit: vào thư mục Arduino IDE v.1.8.4\drivers --> dpinst-x86.exe --> enter.
- đối với win 64bit: vào thư mục Arduino IDE v.1.8.4\drivers --> dpinst-amd64.exe --> enter.
+ Vào Tool --> chọn Board "Arduino Nano".

3. Upload:
+ Upload file đính kèm ROV_Master và ROV_Slave vào 2 board Nano.

4. Sơ đồ đấu dây :
4.1. Bộ điêu chỉnh tốc độ ESC (Slave):
ESCVL------------------Nano-------------------------Nguồn
PIN1-----------------------VCC-----------------------------5V
PIN2----------------------GND---------------------------GND
PIN3-----------------------D8
ESCVR------------------Nano--------------------------Nguồn
PIN1-----------------------VCC-----------------------------5V
PIN2----------------------GND---------------------------GND
PIN3-----------------------D7
ESCHL------------------Nano--------------------------Nguồn
PIN1-----------------------VCC-----------------------------5V
PIN2----------------------GND---------------------------GND
PIN3-----------------------D6
ESCHR------------------Nano--------------------------Nguồn
PIN1-----------------------VCC-----------------------------5V
PIN2----------------------GND---------------------------GND
PIN3-----------------------D5
4.2. Camera digital recorder(Slave):
Video------------------Nano--------------------------Nguồn
Vin------------------------VCC--------------------------- 5V
GND----------------------GND---------------------------GND
VIDEO TRIGGER---------D3
PHOTO TRIGGER--------D2
4.3. Servo motor (Slave):
Servo motor-----------Nano--------------------------Nguồn
Vin------------------------VCC--------------------------- 5V
GND----------------------GND---------------------------GND
Signal----------------------D4
4.4.PS2- Nano (Master):
Bộ thu sóng PS2------Nano-------------------Nguòn
1. 5V---------------------------------------------------5V
2.GND-------------------------------------------------GND
3.DATA--------------------D12(MISO)
4.CMD---------------------D11(MOSI)
5.CLK----------------------D13(SCK)
6.ATT----------------------D10
4.5. LCD 16x2 +Mạch chuyển LCD/I2C (Master):
Mạch chuyển LCD/I2C-----Nano-------------------Nguòn
1. VCC---------------------------------------------------------5V
2.GND--------------------------------------------------------GND
3.SDA-----------------------------A4(SDA)
4.SCL-----------------------------A5(SCL)

5. References:
Ref 1 (UUV):
+ https://www.ecagroup.com/en/autonom...qKbCglO9yABH0oPkCb4NQIJ1rNaT608BoCCMAQAvD_BwE
+ http://www.boeing.com/defense/auton..._HpR2FKUTXDtxvni23bmtk0wHAPNOuOBoCznAQAvD_BwE
+ www.unmannedsystemstechnology.com/category/news/uuv-news/
+ http://www.thedrive.com/the-war-zon...ated-its-first-ever-underwater-drone-squadron
+ https://gdmissionsystems.com/underwater-vehicles/knifefish-unmanned-undersea-vehicle
+ https://news.usni.org/2017/07/18/da...e-sonar-sub-hunting-on-behalf-of-us-navy-subs
Ref 2 (UUV Arduino):
+ https://forum.arduino.cc/index.php?topic=6584.0
+ https://www.robotshop.com/en/unmanned-underwater-vehicles-uuv.html
+ https://www.pinterest.com/pin/492651646711957201/?lp=true
+ https://www.pinterest.co.uk/pin/837317755691002152/?lp=true
+ https://www.ijarcce.com/upload/2016/june-16/IJARCCE 68.pdf
+ https://www.pinterest.com.au/pin/340866265532220523/
+ http://gato-docs.its.txstate.edu/jcr:1f72c509-6f55-413e-80ad-01d40345f6ec/Final_UUV_PPT_2017.pdf
+ http://103.195.142.17/handle/123456789/26341
+ http://103.195.142.17/bitstream/handle/123456789/26341/2014_MICEEI_UWaterROV_FaizalSamman,dkk.pdf?sequence=1
+ http://www.instructables.com/id/MiniSub-ROV/
+ http://www.scielo.org.co/scielo.php?script=sci_arttext&pid=S0012-73532016000100025
+ https://dokupdf.com/queue/design-ma...uuv-_5a02ff35d64ab2b9bde7e5fe_pdf?queue_id=-1
+ https://www.niot.res.in/SAVe/SAVe Report01022016.pdf
+ https://static1.squarespace.com/static/559921a3e4b02c1d7480f8f4/t/596c9b9ed482e9a184bc2f6d/1500289963653/Messner Stefan_655.pdf
++ https://static1.squarespace.com/static/559921a3e4b02c1d7480f8f4/t/596c9b9ed482e9a184bc2f6d/1500289963653/Messner Stefan_655.pdf
+ https://www.researchgate.net/public...ated_vehicle_ROV_using_intelligent_controller
+ Wireless Data Transfer in Under Water System: http://ajast.net/data/uploads/2ajast-44.pdf
+ Design of a Autonomous Underwater Glider focusing on External Wing Control Surfaces and Sensor Integration: http://my.fit.edu/~swood/GliderThesisFinal.pdf
+ Improved user-experience for control of ROVs: https://daim.idi.ntnu.no/masteroppgaver/015/15165/masteroppgave.pdf
+ Modeling of a small Remotely Operated Underwater Vehicle for autonomous navigation and control:
https://search.proquest.com/openvie...ad22c/1?pq-origsite=gscholar&cbl=18750&diss=y
+ https://forum.arduino.cc/index.php?topic=6584.0
+ https://www.sparkfun.com/products/retired/9710
++ https://brage.bibsys.no/xmlui/bitstream/handle/11250/2364892/13963_FULLTEXT.pdf?sequence=1
Ref3(Arduino ROV code)
+ https://www.packtpub.com/mapt/book/...74/building-an-arduino-powered-underwater-rov
+ http://www.instructables.com/id/Underwater-ROV/
++ http://www.techmonkeybusiness.com/rov-control-sketches-second-edition.html
++http://www.techmonkeybusiness.com/pdfs/POVPS2Controlv4.pdf
Libraries:
+ https://github.com/madsci1016/Arduino-PS2X
+ https://github.com/madsci1016/Arduino-EasyTransfer
+ https://github.com/fdebrabander/Arduino-LiquidCrystal-I2C-library
Materials:
+ hshop.vn/products/dieu-khien-ps2-khung-day
+ http://hshop.vn/products/cam-bien-nhiet-do-lm35-2
+ http://hshop.vn/products/de-chuyen-giao-tiep-tay-cam-ps2
+ http://hshop.vn/products/mach-chuyen-giao-tiep-lcd1602-lcd1604-lcd2004-sang-i2c
+ http://www.goodluckbuy.com/horyzonhd-v3-full-hd-1080p-camcorder-fpv-camera.html