Building a Lego-powered Submarine 4.0 - automatic depth control
This radio-controlled submarine can maintain a steady depth or a certain distance from the bottom. It is equipped with a pressure sensor and a laser distance sensor. Raspberry Pi and PID control are used for automation. Tested in a swimming pool and a small river (at the end of the video). Enjoy!
0:00 building
2:36 tests in water
3:48 long journey in a small river
6:47 full Python code
SPECS
Displacement: 2.4 kg (5.3 lb)
Test depth: 1.5 m (5 ft)
Hull: acrylic plastic cylinder (250x110x3mm), SAN plastic lid (2mm thick)
Lid seal: o-ring 2.5 mm (NBR 70 shore)
Ballast tank: 60 ml syringe (Eotia marinade injector), Lego EV3 Medium Servo motor (45503)
Forward propeller: drone propeller (Diatone Bull Nose 4x4.5), Lego PF L-motor (88003)
Turn propeller: Lego propeller 3 blade (6041), Lego PF M-motor (8883)
Magnetic couplings: K&J Magnetics D38-N52 neodymium magnet, TapeCase 423-5 UHMW Tape, silicon spray
Motor driver: 2x Pololu 2130 DRV8833 Dual H-bridge
Ra
1 view
294
51
2 months ago 00:01:29 1
Need for Speed Unbound - VOL 2 Content Update Trailer
2 months ago 03:13:24 1
Full video: Girl Living Alone in the Forest - Set Traps and Ambush Wild Boars, Big Sharp Trap...
2 months ago 00:25:52 1
Heavenly Sounds - The Organ and its Fascinating Versatility | Music Documentary
2 months ago 00:01:00 1
Juggler vs Juggler! The ultimate showdown! | Cirque du Soleil #shorts
2 months ago 00:13:08 1
Just Insert an Electrical Plug on the TV and Watch all the Channels in the World in Full HD!
2 months ago 00:05:16 1
Орск. Крупнейшее наводнение в 1957 / Orsk. Largest flood in 1957
2 months ago 00:02:23 1
Starship | Third Flight Test
2 months ago 00:01:41 1
Runa | Official Announcement Trailer | April 16 on Kickstarter
2 months ago 11:54:59 1
Mystical Treasure - Brings you miracles, money, luck and prosperity - 432hz
2 months ago 11:54:59 1
This week you will become very rich | 432 Hz music attracts money, prosperity and luck!
2 months ago 00:18:25 1
Curious George in Space 🐵 Curious George 🐵Kids Cartoon 🐵 Kids Movies 🐵Videos for Kids