MNFLTY is an Arduino-based payload control system designed for remotely operated vehicles (ROVs). It provides control over a gripper, pump, LED, and pH sensor, allowing for precise manipulation and environmental monitoring. The project is modular, with separate files for each hardware component, making it easy to extend or modify.
⚠️ Maintenance Status: This project is no longer actively maintained as the 2025 MATE ROV season has ended. There may or may not be any further changes to the code.
- Gripper control (open/close)
- Pump control (on/off)
- LED control (on/off)
- pH sensor reading
- Command-based interface for easy integration
- Modular code structure
- Arduino Nano (or compatible board)
- Servo motor for gripper
- Relay module for pump and LED
- pH sensor (analog output)
- Jumper wires, breadboard, and power supply
- Arduino IDE (v1.8+ recommended)
- Servo library (built-in)
- Clone or download this repository.
- Open
MNFLTY.inoin the Arduino IDE. - Connect the hardware as per the GPIO mappings below.
- Upload the code to your Arduino board.
Send integer commands to the Arduino via Serial or another interface. The following table lists the available commands:
| Code | Description |
|---|---|
| 1 | Gripper close jaws |
| -1 | Gripper open jaws |
| 2 | Turn pump on |
| -2 | Turn pump off |
| 3 | Turn led on |
| -3 | Turn led off |
| 4 | Start pH sensor reading |
| 100 | Reset motors |
| 1000 | Reset arduino |
| Function | Pin Number |
|---|---|
| JAW_SERVO_PIN | D6 |
| LED_CONTROL_PIN | D9 |
| PUMP_CONTROL_PIN | D8 |
| PH_SENSOR_PIN | A0 |
MNFLTY.ino: Main control logic for the project.gripper.ino/gripper.h: Gripper control code and definitions.relay.ino/relay.h: Relay control for pump and LED.ph_sensor.ino/ph_sensor.h: pH sensor reading and processing.
- Ensure all hardware is connected as per the GPIO table.
- Check Serial Monitor for error messages.
- If the Arduino is unresponsive, try resetting it (command 1000).
- Verify power supply and wiring.
Contributions are welcome! Please fork the repository and submit a pull request.
This project is licensed under the GNU General Public License v3.0. See LICENSE for details.