NTNU ROV

Open source ROV project by students at IPM NTNU for Trondheim Makers and high school students. Group 1.

Contributors

• Written by Martin Løland
• MPU6050 library by Jeff Rowberg

Features

• Live streaming of video from raspberry pi / piCamera to computer over socket communcation
• Aprox 15fps with 0.4 ms latency at 1296x730 resolution
• Two ways communication of data to/from arduino/rpi and computer using serial communication and pickle with sockets
• Custom made GUI using pygame with support for keyboard and USB-controller input

Arduino

• Reading sensors and moving actuators (motors, led etc.)
• Sending and receiving values to/from raspberry pi

Raspberry pi

• Reading images from picamera
• Sending camera and sensor feed to computer
• Forwarding actuator settings from computer to arduino

Computer

• Program to receive sensor and camera feed
• Displaying UI with updated data
• Taking user input and changing actuators accordingly

Installation

Tested on arduino nano version 3, raspberry pi 2 & 3, windows 10.

Raspberry Pi

• Tested on rpi 2 and 3
• Assuming fresh installation of raspbian and basic knowledge of rpi/linux
• "sudo raspi-config" -> expand filesystem, enable camera, enable ssh
• Update and upgrade -> https://www.raspberrypi.org/documentation/raspbian/updating.md
• Install pip -> "sudo apt-get install python-pip"
• Install picamera -> "sudo apt-get install python-picamera" & "sudo pip install picamera"
• Install serial -> "python -m pip install pyserial"
• If no errors during this process the rpi should be able to run the code

Computer

• Tested on windows 10
• Install python 2.7.X -> https://www.python.org/downloads/
• Install pygame -> http://pygame.org/