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The Main Systems Design

By Dermot Tynan, over 8 years ago.

In terms of the system architecture, we're planning on using two separate computer control planes to manage and steer the boat from start to finish.

At the lowest level, a custom Atmel (ATmega8) board will act as a basic "autohelm", driving the boat to a specific True Wind Angle or TWA. As the breeze shifts, so too will the boat, to maintain that TWA. This is a basic PID algorithm for controlling the rudder and mainsail in relation to the specified TWA and is very similar in design and implementation to your average sailboat autohelm.

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Igor and Otto

By Dermot Tynan, over 8 years ago.

The Kalopa motor control board was designed as a general-purpose Atmel board with ancillary electronics for a wide variety of purposes. It includes two H-Bridge motor controllers, driven by two 16 bit PWM outputs. You can exchange one of the motor controllers for an 8-channel servo controller, also using one of the PWM outputs. It has a standard RS232 port with an RJ45 connector on the end. There is a MAX232 to convert logic levels to proper RS232 voltages. If you want to use radio control, you can instead populate the board with an R5-434 radio receiver. It will listen for data on 434MHz and feed it to the Atmel. The processor itself is the bog-standard Atmel ATmega8 with 8k of code and about 512 bytes of RAM.