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How to make a radio-controlled submarine with a video camera

Everyone can build a submarine. To assemble this design from a tool, only a screwdriver and a hot glue gun were required. The design consists of several modules:

module with electronics
2 cylinders for storage of compressed air
2 ballast tanks (bow and stern)
2 capacities for battery
2 tanks for ballast to adjust the buoyancy.
As propulsors, 4 micropumps for water were used.

Electronics is assembled on the basis of the Russian version of the Arduino board called Iskra Nano Pro. The board is made on the AT Mega 328PB microcontroller. Unlike the original Arduino board and its Chinese copies, the board has a 2nd hardware UART on board, which allows you to connect the gps module to determine the coordinates of the submarine using satellite navigation and it allows you to use all the analog pins as digital ones - so I have 2 free pins for connecting sensors. In the future, the submarine plans to install 2 engines with screws. To save pins (usually 6 pins are required to connect the L293D driver), the CD4069UBE logic chip is used. The battery charge is monitored by the INA219 current sensor. The IMU sensor allows you to detect tilt angles in three axes. (2 axes will be used - one for the trim angle and the second for automatic heading). Power is supplied from a separate stabilizer L4941BV with a minimum difference between input and output voltage, which allows for stable operation of the equipment. For radio communication, the HC-12 radio module is used, which perfectly catches a signal even under water. 4 pumps, 2 microcompressors and 2 solenoid valves are powered from the Darlington ULN2803 assembly.”

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