Onward and Downward!
The linked document outlines the method for determining the pinger frequencies to the nearest fraction of a Hertz. We don’t actually need the frequency per se, but we do need to know the signal period accurate to the nearest multiple of the DSP clock. This number is critical to locking on to the pinger burst.
Pinger […]
The linked file illustrates a possible approach to locating the Buoys with the flashing lights. Admittedly this is just a science experiment for this year, but it could give us some pointers for what to do in the future.
Buoy Challenge
Today’s experiment demonstrated the depth control algorithm that allows the AUV to maintain a fixed depth autonomously.
The closed loop system consists of the depth control program running on the F2812 DSP board, a pressure sensor, the two vertical thrusters and the driving MOSFET. The software continually monitors the output voltage of the pressure sensor, […]
The linked document descripbes the hydrophone sampling algorithms. Note that ALL the analog inputs have to be sampled on the same schedule as the hydrophones so that there is no contention for the use of the ADC. The hydrophone sampling is timing-critical so nothing should interfere with it happening exactly on schedule.
Hydrophone Sampling
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