35 lines
1.7 KiB
Markdown
35 lines
1.7 KiB
Markdown
# SUB Control
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A lightweight Windows controller for ArduSub ROVs over USB/MAVLink.
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## Quick start
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Install Python 3.11+ with the Python launcher, then run:
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```powershell
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./run.ps1
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```
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The script creates a virtual environment and installs dependencies automatically.
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On first launch, it also adds a **SUB Control** desktop shortcut.
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Select a COM port and **Connect**, or choose **Demo Mode** to try it without hardware.
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Connection settings are under **•••**.
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Click **Data link** for an extended connection test, or **Console** to open the right-side RX/TX panel. Filter routine traffic, pause the view, or expand a message for full details.
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## Controls
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- Joystick: forward/back and turning. Vertical slider: rise/dive.
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- Keyboard: **W/S** forward/back, **A/D** or **Q/E** turn, **R/F** rise/dive.
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- Physical controller: select **Joystick** while disarmed. Left stick drives/turns; right stick controls rise/dive. **Setup** changes axes, inversion, and dead zone while disarmed.
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- Hold **engage** for 1.4 seconds to request arming; tap **disengage** to request disarming. The app waits for vehicle confirmation.
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- Movement controls ease back to neutral when released.
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- In Joystick mode the graphics show the conditioned control demand and are read-only. Center sticks after switching modes, reconnecting, or returning focus. Controller buttons do not arm the vehicle.
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Includes adjustable output limit, motor setup, voltage-based battery status, an STL viewer, and session logs in `logs/`.
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## Safety
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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.
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