In this video, we tested the pneumatic equipment that Clippard generously donated to us in the tank that we have recently been using. We show how the system works, as well as the markers falling and two ways to launch our torpedoes.
We have two different designs of torpedoes printed out, both 6″ long, one that will fit in a 1″ copper tube and the other in a 3/4″ tube. They both fly through the water very well. We can’t wait till we put some pneumatic oomph behind them with the system that was just donated to us by Clippard Minimatic.
The marker dropper will have a pneumatic piston installed in it that will move the tray back and forth to allow the steel ball to fall through.
Below are some images of the models and what was printed out. The torpedo diameter was only .007″ larger then what we designed for, showing the extreme accuracy that 3D printing can bring.
In the unlikely event that water enters the pressure case housing our computer, pneumatic systems, motor controllers, and other electronics, we will need to surface immediately.
Redundancy and error checking will be added later. Below is a schematic of the circuit, with the wires represented by a switch. The small peizo speaker is attached to pin 8 and gnd. When pin 2 is pulled high, from water completing the circuit on the wires, the Arduino is programmed to pull pin 13 high which can go to any number of things that can make the AUV surface. We also temporarily attached the speaker to make it more apparent when water is present.