ROV controller

ROV controller for SeaPerch. Uses boost converter to boost 12VDC battery power supply to 20VDC or more as desired to obtained higher motor RPMs. Uses L298N motor controllers and PWM from Arduino Nano to regulate speed to the three motors (right/left thrusters and up/down thruster). PCB was designed to include a MS5540C pressure sensor on the second ethernet jack to be used for automatic depth control with a PID controller but I overheated my sensor during sodering so I had to abondon its use for my ROV. I have included the Ardunio code that I used. I found that the thrusters did not provide equivalent thrust for the same PWM, so I have potentiometers that can change the speed of the right and left motor thrusters independently. I also have a hoover potentiometer that sets the speed of the up/down thruster to maintain the given depth based on the buoyancy of the ROV.