This is the repository for the code of the 2023 MATE ROV.

• You will need python3 installed on both machines, as these do not work with Python 2.7, I2C must also be enabled on the ROV, using raspi-config.
• On the pneumatics computer make sure the packages python-dev and python-rpi.gpio are both installed as these are required for the Pi to control the relay board.
• Make sure to install the dependencies on requirements.txt on both machines.
• On the ROV, run the index.py in the Control directory, making sure the correct IP is written for the pneumatics computer in the claw() function.
• On the pneumatics computer, run the index.py in the Pneumatics directory.
• Open the ROV's IP in your web browser of choice, with a controller connected.
• Profit.

It is possible to run the ROV Control and Pneumatic automatically on starting using services. It is possible by doing the following:

• On the ROV, move the ROVControl.service file to /etc/systemd/system directory, then enable it using sudo systemctl enable ROVControl, and reboot the machine.
• On the Pneumatics computer, move the ROVPneumatics.service file to /etc/systemd/system directory, then enable it using sudo systemctl enable ROVPneumatics, then reboot the machine.
• Both servers should be running on startup from now on.
• NOTE: The services are written assuming that the default user is pi, and that the scripts are located in ~/ROV/Control/index.py or ~/ROV/Pneumatics/index.py.

• Left Stick: Forward/Backward Movement and Strafing
• Right Stick: Vertical Movement and Turning
• Y/Triangle Button: Full Upwards Movement, Disabling Horizontal
• Left Bumper: Half Horizontal Speed
• Left Trigger: Rotate Claw (toggle rotation)
• Right Trigger: Open Claw (releasing button closes claw)
• Start Button: Forward movement for 5 seconds