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Welcome to the TAUV-Hardware wiki!

This wiki will go over the existing and upcoming electrical systems for TartanAUV. There are currently 2 subs in various stages of operation called Kingfisher (our primary competition sub) and Albatross (our first sub which is being revived as a test platform). They both share the following overall layout.

Battery Power: We use 1 4s 16000mAh lumenier LiPo to provide all power to the systems of each sub. Power Board: This is the main power distribution and regulation board that interfaces with the LiPo. There is an ongoing project to replace this system with 2 separate boards to improve modularity as well as ease of upgrades. ESCs: ESCs will interface with a PWM controller (maestro) and the power board for inputs. All outputs are connected to each of the thrusters. Thrusters: Both subs use 8 T200 Blue Robotics thrusters for maneuvering. Killswitch: A small hall-effect sensor that is externally toggled with a magnet. This is used to kill power to the ESCs in the case of an emergency or while working is being performed on the sub. 12V Regulator: This is an external regulator designed to prevent the nVidia Jetson from power cycling due to a voltage drop. This is required for power board versions prior to the regulator/thruster board stack. nVidia Jetson: The primary compute module for the subs.

This is all the similarities between the Subs.

TODO Sub specific systems In-depth overview of each board