Wood and fiberglass hull like yellow boat

Based on yellow boat plans different deck 390 Grams as shown 
Also Ply fiberglass epoxy catamaran build log

Yellow boat 3 http://kiwitricopter.blogspot.co.nz/2012/12/yellow-boat-3-power-test-scratch-built.html

Fit out http://kiwitricopter.blogspot.co.nz/2013/12/mad-man-yellow-boat-2-x-turnigy-heli.html

Sea run a Purau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-fpv-camera-view-purau-new.html

Another run at Motunau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-motunau.html

Evo 2 http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-revised-powertrain.html

Glass and epoxy inside balsa ply, will epoxy the outside too. Its very strong with builders fiberglass tape and epoxy 

The motors will be mounted further forward on a cooled plate 

Spray rails are bamboo barbecue skewers and wood filler  

Will be powered with 2 of the following

P2632 Brushless Outrunner 3800kv

The Arduino code will be the same as I ran in the Catamaran I may add differential thrust with steering angle as its a twin

#include  

int ch1 = 4;

int ch2 = 5;

unsigned long ch1v;

unsigned long ch2v;

unsigned long RightLeft = 0;

unsigned long UpDown = 0;

long Trim = 0;

long Throttle = 0;

long Cooling = 0;

long PumpSpeed = 0;

Servo Servo1;

Servo Servo2;

Servo Servo3;

Servo Servo4;

#define MAX_CHAN 8

int AnIn[MAX_CHAN] = {0, };

unsigned long PPMtout = 20000;

char buf[300] = {0, };

long mS = 0;

 void setup() {

   

  

  Serial.begin(115200);

  

  pinMode(ch1, INPUT);

  pinMode(ch2, INPUT);

  

  Servo1.attach(8);

  Servo2.attach(9);

  Servo3.attach(10);

  Servo4.attach(11);

  

}

void loop() {

  

  AnIn[0] = analogRead(A0);

  AnIn[1] = analogRead(A1);

  AnIn[2] = analogRead(A2);

  AnIn[3] = analogRead(A3);

  AnIn[4] = analogRead(A4);

  AnIn[5] = analogRead(A5);

  AnIn[6] = analogRead(A6);

  AnIn[7] = analogRead(A7);

  

  /* RAZU-2 Six turn

  This device has a gain of 55mV per amp giving a 36 Amp working range, 

  and a resolution of 11.3777 mA per bit with the maximum output at 5 volts 

  which is 1024 bits in the Arduino. By the way I should point out that 

  these devices on a 5 volt rail will sit around 2.5 volts with no current 

  flowing, so at a 2 Volt delta the out put should be around 4.5 V

   */

   

  mS = micros();

  

  //Get PPM from each RX channel  

  noInterrupts();

    

    

    

    

    

  ch1v = pulseIn(ch1, HIGH, PPMtout);//Throttle

  

  if(ch1v > 0)

  {

    ch2v = pulseIn(ch2, HIGH, PPMtout);//Imax

  } 

  else//Fail safe

  {

    ch1v = 1000;

    ch2v = 1000;    

  }

    

  interrupts();

  

  //ALLOW INTERRUPTS BEFORE UPDATE SERVOS

  delayMicroseconds(2000);

  

  

  //Calculate motor amps

  long Motor_mA = ((long)(AnIn[1] - 512) * 11.0f);

  

  

  

  int Tmax = (int)ch2v;

  

  //Set max throttle

  Throttle = (long)map((int)ch1v, 1000, 2000, 1400, Tmax); 

    

    

  //Calc amps

  long Amps = (long)map((int)Motor_mA, 0, 36000, 0, 36); 

    

    

    

  //Calculate cooling temp RTC on AnIn[0]

  int cerr = ((int)600 - (int)AnIn[0]); 

    

  //Integrate temparature

  Cooling += cerr;

   

  if(Cooling < 1000) Cooling = 1000;

  else if(Cooling > 2000) Cooling = 2000;

    

  //Use the temperature integrator plus the motor current 

  //36 Amps gives us 360 bits

  PumpSpeed = (long)Cooling + (Amps * 10);

  

  

  

  

  

  

  

  //Update the outputs

   

  Servo1.writeMicroseconds((int)Throttle);

     

  Servo2.writeMicroseconds((int)PumpSpeed);

  

  

  

  long Cyc_mS = (micros() - mS);

  

  //ALLOW SERVOS TO UPDATE BEFORE INTERRUPTS OFF

  delayMicroseconds(18000 - Cyc_mS); 

  

  Cyc_mS = (micros() - mS);

  

  sprintf(buf, "ch1v_Tmax:%d,ch2v_Imax:%d,Throttle:%d,AnIn[0]:%d,AnIn[1]:%d,CoolingError:%d,Cooling:%d,Imax:%d,MotorAmps:%d,Cyc_mS:%d", (int)ch1v, (int)ch2v, (int)Throttle, AnIn[0], AnIn[1], cerr, (int)Cooling, (int)Tmax, (int)Amps, (int)Cyc_mS );

    

  Serial.println(buf);

  

  

  /*

  char incomingByte = 0;

  

   // send data only when you receive data:

  while (Serial3.available() > 0) {

    // read the incoming byte:

    incomingByte = Serial3.read();

    

    Serial.print((char)incomingByte);

    

    delayMicroseconds(1000);

    

    if(incomingByte == 13) break;

  }

  

  Serial.println( );

  */

    

}

Related Posts by Categories