Aug 15, 2018
For the autonomous sub I got the other u-bracket and the fins assembled. The dive plane fins are removable and have a 3 mm bolt through the fins and rod to hold them in place. I also got the holes drilled and tapped on the other shafts coming out of the pressure vessel. I did a small balance test in a sink and determined that the sub will need about 1-1.5 lbs. of weight to make it neutral in the water. Since the set screws for the motors are so small I reprinted the motor mount and added pegs to go through the motors and hold them in place. I then 3D printed a stand so that the sub can sit up straight while assembled and the fins wont rest on the ground. Finally, this week I wired up the compass to an Arduino and tested the code that reads the heading.