Tufts Robotic Sail Team

F-dash

Hacking the CR-914


Assembly

Wind Sensor

Waterproofing


Wind Sensor


Gyro

Magnetic Compass

Reed Switches

Hall Sensors

Potentiometer

Water-proofing


Internal Tupperware

External waterproof cellphone case + Tupperware


Electronics



Arduino Uno + Teensy


Sensors


Tilt-compensated Magnetic Compass

GPS

Potentiometer
Adafruit Ultimate GPS Breakout - 66 channel w/10 Hz updates 

Wireless Communication


Hobby King RF receiver/transmitter

Xbee Module 2


On-board System Schematic



Software


 if (currentTack == 1)
  {
    moveBoatToNewRelativeHeading(50); 
  }
  else if (currentTack == -1)
  {
    moveBoatToNewRelativeHeading(310);
  }
  else
  {
    float angle = angleToTarget(destinationLat, destinationLong);
    int angleDifference = (int)angle;
    moveBoatToNewRelativeHeading(angleDifference);
  }
} 

Software Choices




State Machine




Trim boom


Trim rudder

Trim Boom


Trim Rudder



Check the no-go-zone

Choose tack


Arduino IDE 1.0.5




LabView GUI




Next Steps



Sailbot Presentation

By Joshua Prince