A thruster model with a depth rating of 300m was selected as an engine for the AUV. The operating voltage range is 12V – 24V and the speed can be controlled with a 50Hz PWM signal with a pulse width of 1-2ms. The integrated speed controller (ESC) must be initialized on every powerup:
- Power on the ESC on the red and black connector. Three beep sounds indicates that the ESC has started up.
- Apply a 1ms signal to the yellow connector. The ESC should respond with a beep.
- Apply a 1.5ms signal to the yellow connector. The ESC should respond with a beep.
- After two beep sounds , the initialization is completed.
- Apply a 1-1.5ms PWM signal to the yellow connector to control the thrust in one direction.
- Apply a 1.5-2ms PWM signal to the yellow connector to control the thrust in the other direction.
- A 1.5ms PWM signal stops the thruster.
