SubjuGator Testing Procedures

Before leaving

For best results, packing should be done at least one day before a testing session. This

Packing list

  • Power Strip

  • Table

  • Extension Cord

  • Battery Box

  • Battery charger

  • Tether

  • Network Box

  • Ethernet Cables (2 + #of devs)

  • Laptops

  • 7/16 wrench

  • 5/32 Allen Key

  • Duct tape and scissor

  • Buoyancy foams for the sub

  • Pliers

  • Flat-head screwdriver

  • Kill wand

  • Multimeter

  • Goggles / Snorkeling Tube

  • Pool noddles

  • Dive fins

  • O’ring grease (Molykote 55)

  • Cable grease (Molykote 44)

  • Hot glue gun

  • Hot glue sticks

  • Large and small zip ties

  • clippers

  • Towel(s)

  • Sunscreen

  • Tent (If going to Graham Pool or Florida Pool)

  • Chairs (If going to Graham Pool)

Software/Electrical Checklist

  • Update (git pull) and build (cm) code.

  • Verify all sensors output data.

  • Verify that the correct thrusters spin given the appropriate command.

  • Verify kill (soft and hard).

  • Grease all electrical connectors appropriately.

At testing site

  • Get wall power to powerstrip.

  • Setup and connect to Network Box.

  • Roll tether and connect it to network box. (DO NOT USE POE)

  • Connect Sub to to tether. (NOT POE)

  • Connect battery alarm, power on sub.

  • SSH into sub.

  • Start tmux, write code.

  • Grease O-rings with Molykote 55 every time a pressure vessel is closed.

    • ENSURE THAT THE RED PRESSURE RELIEF CAP ON THE BATTERY TUBE HAS BEEN SCREWED IN PLACE AFTER CHANGING BATTERIES

  • Person getting into the pool must do backflip.

  • Deploy sub. (check for bubbles, make sure buoyancy is correct).

  • Verify odometry.

Troubleshooting

  • :ref:Troubleshooting The Nav Tube Connection<troubleshooting-nav>