SeaPerch ROV Assembly

The SeaPerch ROV that I designed. Camera uses RG-174 coaxial cable as an antenna as part of the tether with camera in using WiFi. Control circuitry uses PID controller with MS5540-CM depth sensor to automatically maintain depth by adjusting PWM signal to vertical thruster. Right and left thruster controlled manually for forward and reverse with speed (PWM amount), and programmed for smoothest right and left turns.