Building a Lego-powered Submarine 4.0 - automatic depth control
This radio-controlled submarine can maintain a steady depth or a certain distance from the bottom. It is equipped with a pressure sensor and a laser distance sensor. Raspberry Pi and PID control are used for automation. Tested in a swimming pool and a small river (at the end of the video). Enjoy!
0:00 building
2:36 tests in water
3:48 long journey in a small river
6:47 full Python code
SPECS
Displacement: 2.4 kg (5.3 lb)
Test depth: 1.5 m (5 ft)
Hull: acrylic plastic cylinder (250x110x3mm), SAN plastic lid (2mm thick)
Lid seal: o-ring 2.5 mm (NBR 70 shore)
Ballast tank: 60 ml syringe (Eotia marinade injector), Lego EV3 Medium Servo motor (45503)
Forward propeller: drone propeller (Diatone Bull Nose 4x4.5), Lego PF L-motor (88003)
Turn propeller: Lego propeller 3 blade (6041), Lego PF M-motor (8883)
Magnetic couplings: K&J Magnetics D38-N52 neodymium magnet, TapeCase 423-5 UHMW Tape, silicon spray
Motor driver: 2x Pololu 2130 DRV8833 Dual H-bridge
Radio control: 27 MHz controller dissembled from a toy submarine (no-name chinese Mini U Boat)
Pressure sensor: Honeywell SSCMANV030PA2A3 2 bar
Laser distance sensor: SparkFun TFMini-S Micro
Computer: Raspberry Pi Zero 2 W
Power supply: Lego Rechargeable Battery Box 9V (8878), Pololu 2123 S7V8F5 5V voltage regulator
MORE DETAILS
CODE
#cHnVI6NjaPkfZcdZvFZZ0Q
or
PREVIOUS SUBS
1.0 syringe ballast
2.0 magnetic couplings
3.0 balloon and compressor
MUSIC
Tommy Baynen - Stone Paths
1 view
42
9
1 month ago 00:08:10 1
AI Agents Will Create MILLIONAIRES in 2025 – Are You Ready
1 month ago 00:01:29 1
Тентовые здания МСБИЛДИНГС
1 month ago 00:03:58 1
The Shira Choir x The Kiffness - Im Hashem Lo Yivneh Bayis (Psalm 127 DANCE REMIX)
1 month ago 00:02:43 1
Yearning Kru - Multipass
1 month ago 00:40:25 1
40MIN Unilateral Leg Strength - Lower Body Workout
1 month ago 00:19:20 1
Blue Ribbon: Story of the Build
1 month ago 00:00:31 1
Тот самый чел, который говорит что он “топ 1 холиворлда“
1 month ago 00:06:07 1
PATRIARKH - WIERSZALIN IV (feat. Eliza Sacharczuk) (Official Video) | Napalm Records