Dan Marina

First-time Setup

Full instructions on hooking up all sensors, servos, etc.

For any issues, refer to the Troubleshooting docs
For info on handling our batteries

Mounting

Windvane

The green p3022 encoder is directional and must be oriented in-line with the boat to be accurate!

Align the encoder's single screwhole to face the center bow of the boat.
Rotate the encoder shaft so the flat section lines up with the single screwhole
Attach the windvane on top of the shaft with the front aligned the flat section (0/360° should indicate being in irons)

IMU

The BNO055 IMU is also directional!

Assuming no offsets, the 0°-point aligns with the y-silkscreen axis forward. Align this side with the center bow-line of the boat. - If this cannot be done, then offset the angles in software so that 0/360° matches with the boat facing North.

Wiring

These components are relatively straightforward and just need to be plugged into the right connectors.

IMPORTANT: Avoid hot plugging anything on the PCB, if you want to plug something in you MUST cut power

Note: JS/RS/MS/A1 connect to the 5-7.5V buck. A2/A3 connect to the 5V buck. Be careful to not accidentally plug any 5V components into the JS/RS/MS/A1 headers when using a 7.5V buck.

Wiring Diagram

Connect a USB-A to USB-C from the PCB buck converter to the Pi5
Connect a USB-A to micro-USB from the Pi5 to the Pico2
Connect the SBUS receiver to 5V, GND and Pico2 UART_RX
Connect the Jib, Sail and Rudder servos
Slot in the two buck converters
- Use 5V for the dragonforce servos
- Use 7.5V for the dan marina servos
Slot the GPS into the left header
Slot the IMU into the right header
Daisy chain the JST-SH cable between the GPS and IMU
Plug in the battery to the XT60
- Can handle 7.6-60V (in theory) ideally 12.6V

Hot Start

All components are plugged in and the boat just needs to be powered on.

Calibrate the IMU

Every time the boat is powered on, the BNO055 IMU must be calibrated before it will be accurate.

Magnetometer: Move the sensor in a figure-8 pattern until it begins reading values.
Gyroscope: Leave the sensor still for a few seconds
Accelerometer: Should calibrate automatically after a second.

Run ROS2

Connect your laptop to the Sailnet 2.4G Wi-Fi access point or your own hotspot.
- Password is PittSailbot, admin for router is Sailbot and can be accessed at 192.168.8.1
- (Optional) Make sure everything is working up to this point by following the first 3 steps in Wifi Connectivity
On your laptop open a terminal.
SSH into the Pi. The command looks like this: ssh <user>@<Ip address>
- The following are subject to change:
- The usernames for the two Pi5s are sailbot or pi
- You can also use our tailnet to connect to the Pi5 on any two networks so long as both can access the internet (ex. 2 phone hotspots)
- Pi5: ssh <user>@<ip> or ssh <user>@<tailnet-machine-name>
- The passwords for both are sailbot
- If the Pi doesn't connect to a phone hotspot or our router then you'll need to connect a monitor and keyboard to the pi.
Run the Docker container

cd ~/Sailbot
python3 ./utils/docker.py run
# you should now be in a docker terminal and see /workspace# to the left of your cursor, if not look for error messages
# you can type "exit" to leave the docker terminal and return to your normal terminal if you need to.

Note: You can use tmux to host the terminal on the Pi5. This will prevent the ssh session from being destroyed if your computer disconnects from the Pi5.

Compile ROS2

. compileDocker.sh

Run the relevant ROS2 nodes ros2 launch sailbot boat_all.launch

OR alternatively, run the specific nodes you want directly: ros2 run sailbot mcu_bridge ros2 run sailbot tack_navigation ros2 run sailbot website

Alternative Setups

Running with local laptop

Replace the Pi5 by running the ROS2 autonomy stack on any Windows device.

Plug in Pico2 USB to laptop
Attach the Pico2 to WSL2
Ctrl + Shift + P > Rebuild & Reopen in Container
Run . compileDocker.sh to compile ROS2
Run the relevant nodes:
- mcu_bridge
- navigation
- website