1. This was an easy choice. Looking to see what other folks had done pushed me in the direction of 1/2 inch PVC pipe. It's cheap and easy to work w...

2. First pic is the buoyancy test. Second pic attempts to show how thruster wires are led into potted bullet connectors. Third pic is more of the s...

3. I got a lot of ideas from the web and decided to go with bilge pump cartridges. They're relatively cheap (about $20+) each and have about the ri...

4. I used a 50 foot length of Cat 6 Ethernet cable. I pushed it into 50 feet of polypropylene rope. I used the end of a ball point pen taped onto t...

5. First pic shows camera and compass. Second pic shows what happens when you keep adding stuff. Third pic shows underside-mounted motor controller...

6. The first video shows Depth Hold working pretty well.The second video is a test of the Heading Hold feature.PseudocodeThe Arduino Mega runs a sk...

7. 6 Channel RC transmitter Control BoxThe original control box (old cigar box) that held electronics not on the sub has been replaced by a floatin...

8. I did add a mini DVR module to the control box to sit between the OSD (On Screen Display) and the little TV to record the video. But with the ch...

1. Materials:- 1 Rule 1100 GPH 12VDC Bilge pump. I used these because I could get them, other sizes or manufacturers might do fine too.- 1 RC model...

2. The bilge pump is actually a ready-made DC motor in a watertight housing. No idea how deep it'll stay watertight, but I'm hoping 10m. Remove the...

3. Take a 4mm 20 mm or so long bolt, saw the head of and make sure the threading still "works" on both ends (use a file if you have to). Using the...

4. There are two wires coming out of the motor, it would be nice to have one round cable that you can put through a waterproof cable gland. I used...

5. Try it out in a bucket or a bathtub.

6. The robot I'm building is work in progress. Here's how the thrusters are mounted. The motor is placed on a U shaped spacing filed on the end of...