The last two weeks have seen significant progress in the ISR submarine controls. I have configured two full sized NEMA 17 stepper motors to be driven by two drivers and the Arduino, and I have implements very basic control with two dual axis joysticks. Each joystick controls one stepper motor, and the speed of the motor is dependent upon how far the joystick is pushed from the center. Eventually, I will need the joystick to control the angle of a fin and not just the speed of the motor, however this is mainly a software issue and not a hardware issue.
After a long frustrating attempt to get reliable facial detection working, I’ve decided to switch gears and begin working on more hardware based projects (this is a robotics class after all). For the second half of my course, I will be working on Dover International Submarine Races submarine electronics. The electronics will require four stepper motors to control fins on the rear of the submarine, and getting those stepper motors working is my first project. I have never worked with stepper motors or stepper motor drivers before, so this is a learning experience for me.
