Status: Cutter not mounted, everything else works, more or less.
Software difficult even though very simple-minded,
primitive outdoor tests in progress.
Problems:
Sonar location repeatability ca. +/- one meter.
Determination of actual direction with this poor accuracy is
quite uncertain.
Motors interfering with radio reception is maddening, fixed by
extensive shielding, bypassing, etc. 27 MHz is a rotten frequency,
need much higher frequency for dependability and short antenna.
Would like to:
Install interfence-immune VHF telemetry receiver.
Use 2400 Baud instead of 110 Baud. The 100 ms command pulse
overloads the audio receiver and inhibits reception of ranges
less than 4 meters.
Increase power of 17 KHz beeper, reception uncertain at some
15 meters.
Have stepping motor for steering, so that steer position is
known and not estimated.
Cost: All junk parts up to now. New stuff would cost $300.
Best regards, Alex Davidson