Sail-by-wire

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Revision as of 07:54, 14 April 2020 by Kannix (talk | contribs) (protocol)
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aim

retrofit engine (propulsion), gearbox (gear) and steering (rudder) with controller based on Sean's work https://pypilot.org/schematics/

hardware

  • ESP32 fully featured Microcontroller (< EUR 10,-)
  • IBT-2 BTS7960 based Double-H-Bridge (< EUR 10,-)
  • sensors:
    • linear pot
      • 10k Ohm as suggested by Sean
      • off-the-shelf rudder angle sensor 0-190 Ohm
    • end switches
    • current sense:
      • BTS7960 feature
    • over temprature:
      • BTS7960 feature
  • power-drive:
    • windshield wiper motor
    • hydraulic pump
    • ...

commercial products

  • ZF Pod Drives
    • DeviceNet ?
  • Volvo† IPS und Volvo Aquamatic
    • J1939 ?
  • Teleflex Optimus 360 Systems
    • DeviceNet ?
  • Yanmar VC10 und JC10 (Joystick) Control Systeme)
    • DebiceNet ?

toDo

  • explore communication protocols

communication

conceptual

remote control

physical

  • wifi
  • ethernet
  • can-bus
    • nmea2000
    • ...
  • serial
    • Sean's pyPilot
  • bluetooth
  • infrared
  • radio 10kHz

protocol

[...] = porposed feature

signalK

  • rudder
    • control
      • /vessels/<RegExp>/steering/rudderAngleTarget
    • feedback
      • /vessels/<RegExp>/steering/rudderAngle
  • gear
    • control
      • /vessels/<RegExp>/propulsion/<RegExp>/transmission/gear[Target]
    • feedback
      • /vessels/<RegExp>/propulsion/<RegExp>/transmission/gear
  • propulsion
    • control
      • /vessels/<RegExp>/propulsion/<RegExp>/revolutions[Target]
      • /vessels/<RegExp>/propulsion/<RegExp>/engineLoad[Target]
    • feedback
      • /vessels/<RegExp>/propulsion/<RegExp>/revolutions
      • /vessels/<RegExp>/propulsion/<RegExp>/engineLoad

nmea2000

  • rudder
    • control
      • pgn 127237 Heading/Track Control
    • feedback
      • ...
  • gear
    • control
      • NONE
    • feedback
      • ...
  • propulsion
    • control
      • NONE
    • feedback
      • ...


Sean's serial

  • rudder
    • control
    • feedback