AberSailbot Kitty

Contents

1. Software Stack
   1. Os Dependencies
      • Gpsd
      • Python3
      • Platformio
      • Other Utilities
   2. boatd
      • Driver
      • Behaviour
   3. Arduino Interface
2. Electronics
   1. Captain H. Morgan
   2. Power Setup
   3. Rowind Interface
3. Rigging
   1. Catamaran
      • High Wind
      • Low Wind
4. Hull

Software Stack

OS Dependencies

GPSD

Gpsd is an open source GPS interface daemon that provides a standard interface to many GPS modules. We use it to talk to the A2200-A on captian morgan over Serial.

Installation

sudo apt install gpsd

Python3

Python is the primary language our control system is writen in, we use python 3 so we need to get the python3 and python3-dev packages

Installation

sudo apt install python3 python3-dev

Platformio

Platformio is the software we use to deploy code to the Arduino.

Installation

pip install -U platformio

Other Utilities

There are several other useful tools and Utilities used on the boats.

• tmux: tmux allows for session persistence and multiple concurrent shell sessions, acting like a simple window manager.
• fish: fish is a very convenient shell that allows for case insensitive tab completion and other quality of life tweaks.
• dtrx: dtrx or "do the right extraction" is a useful extraction utility that allows the use of one command to extract many types of archives.
• htop: htop is a powerful resource manager, similar to task manager in windoes.

WARNING

From this point on documentation is outdated and may not be accurate

kitty-provisioner

Confiure a raspbian image with for use inside kitty. This sets up networking to act as an access point, installs config files and sets up udev rules for the GPS and wind sensor. With this configuration, the gps appears on /dev/gps, the RO Wind on /dev/rowind and the Arduino on /dev/arduino.

Installing

$ git clone https://github.com/abersailbot/kitty-arduino.git
$ cd kitty-arduino
$ git submodule init
$ git submodule update

Now, if ino tool is installed correctly (if you're using kitty-provisioner this is done for you), you can compile with:

$ ino build
$ ino upload

Alternately, use make for all the previous steps:

$ make install

Do the following:

$ git clone https://github.com/abersailbot/kitty-provisioner.git
$ cd kitty-provisioner

Edit password and change the password, then run

$ sudo ./provision

kitty-arduino

Code to run on kitty's arduino.

Depends on CMPS10 to interact with the compass.

Electronics

Box connectors

Plug 1

1. Rudder Power (7.2v)
2. Rudder Ground
3. Rudder Servo Data
4. N/C
5. N/C
6. Multiplexor Power (6v)
7. Sail Winch Ground
8. Sail Winch Live (7.2v)
9. Sail Winch Data
10. N/C
11. Multiplexor Ground
12. N/C

Plug 2

1. Wifi Ground
2. Wifi Data-
3. Wifi Data+
4. Wifi Power (5v)
5. N/C
6. Compass SDA
7. Compass Ground
8. Rowind Data
9. Rowind Ground
10. Rowind Power (14.4v)
11. Compass SCL
12. Compass Power (5v)

Sails

Kitty's sails, made using Sailcut. Currently two sails planned:

• heavy_air.saildef - for heavy winds
• light_air.saildef - for light winds

The sails wrap around the mast, so add an extra 83mm (circumference of the mast) + 40mm (leech hem) from the mast edge of the sail.

Output formats for printing are stored in output.

kitty-hardware

Files relating to Kitty's hardware

This currently contains:

• Sails - Files for the sails
• Hull - Files used in the construction of the hull

Unless specified otherwise, the files contained within are licenced under CC BY 4.0. See COPYING for the full licence.

Weights:

• Boat with most of the stuff in - 13 kilos
• Keel - 15 kilos
• box:a
  • base > 29 kilos
  • lid 19 kilos
  • 2.09m x 0.72m x 0.60m