ROV Control Software Testing

After getting back our sonar from the repair shop, the Harvey Mudd students set out to debug the new control software which includes autonomous bearing and depth control. Ben is shown tuning gains for this controller in the attached image.

The students were able to get a functional P control auto bearing controller working, but had trouble with depth control due to a faulty depth sensor. Alistair (seen in pic below) was also able to debug some sonar data recording issues that had crept into our software.