# SUB Control

A lightweight Windows controller for ArduSub ROVs over USB/MAVLink.

![SUB Control V2 interface in Demo mode](docs/sub-control-v2.jpg)

## Quick start

Install Python 3.11+ with the Python launcher, then run:

```powershell
./run.ps1
```

The script creates a virtual environment and installs dependencies automatically.
On first launch, it also adds a **SUB Control** desktop shortcut.
Select a COM port and **Connect**, or choose **Demo Mode** to try it without hardware.
Connection settings are under **•••**.

## Controls

- Joystick: forward/back and turning. Vertical slider: rise/dive.
- Keyboard: **W/S** forward/back, **A/D** or **Q/E** turn, **R/F** rise/dive.
- Hold **engage** for 1.4 seconds to request arming; tap **disengage** to request disarming. The app waits for vehicle confirmation.
- Movement controls ease back to neutral when released.

Includes adjustable output limit, motor setup, voltage-based battery status, an STL viewer, and session logs in `logs/`.

## Safety

Verify motor direction, ESC settings, and vehicle failsafes before use. Remove propellers for initial bench tests and keep a physical power cutoff available. A lost connection cannot guarantee the motors stop.