Skip to content

Sealing

Main Hull

Electrical Preparation

  • Check the wires on Fischer receptacles on the endcap. Make sure none have been torn loose.

  • Ensure all wires on MOAB or FOAB (whichever is being sealed in the robot) are constrained and will not get caught on anything

  • Check the Acoustics System.

    Details
    • Ensure that 4 single-channel boards are present.
    • Ensure the hydrophone power switch is in the "ON" position
    • Make sure the FPGA board's power switch is in the "ON" position

  • Double check electrical system wiring

    Details
    • Control board
      • USB to jetson
      • Depth sensor cable properly seated on connector
      • PWM to ESCs all properly seated on connectors
    • MEB
      • USB from MEB to USB hub
      • System switch wire connected
      • Kill switch wire connected
      • I2C cable to MSB present
      • Battery power cable connected
      • Leak sensor wires connected
    • MSB
      • I2C wire to MEB connected
      • 2x Torpedo Wires connected (not currently used)
      • 2x Dropper Wires connected
      • 5V regulator (UBEC) connected
    • Jetson Nano
      • Ethernet connected
      • Software kill wire on GPIO (not currently used)
      • USB hub connected
      • Power connected to barrel jack
    • Acoustics System
      • UBEC connected to distribution board
      • USB from FPGA to USB hub or jetson
      • One hydrophone wire pair connected per single channel board (4 total)
      • 4x Wires from each single channel board to FPGA dev board

  • Insert MOAB or FOAB making sure it fully seats into the powerpole block connector. Make sure it is inserted in the correct orientation.

  • Connect all wires from MOAB/FOAB to the endcap

    Details
    • Ethernet (tether)
    • 2x Camera USB to USB hub
    • 4x Hydrophones
    • Depth sensor
    • Kill switch
    • System switch
    • Torpedos (not currently used)
    • Droppers
    • LED strip

  • Before sealing, dry run

Sealing

TODO

Pressure Test

TODO

Battery Hulls

Electrical Preparation

  • Ensure battery is charged!
  • Check fuse in fuse adapter to make sure it is not burned out
  • Connect battery through endcap and make sure voltage is measured on end of fischer (use a loose receptacle to measure!)
  • Make sure leak probes are in correct positions and attached to leak sensor in hull

Sealing

TODO

Pressure Test

TODO