Home Boat Building: wood

Wood and fiberglass hull like yellow boat

Based on yellow boat plans different deck 390 Grams as shown
Also Ply fiberglass epoxy catamaran build log

Yellow boat 3 http://kiwitricopter.blogspot.co.nz/2012/12/yellow-boat-3-power-test-scratch-built.html

Fit out http://kiwitricopter.blogspot.co.nz/2013/12/mad-man-yellow-boat-2-x-turnigy-heli.html

Sea run a Purau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-fpv-camera-view-purau-new.html

Another run at Motunau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-motunau.html

Evo 2 http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-revised-powertrain.html

Glass and epoxy inside balsa ply, will epoxy the outside too. Its very strong with builders fiberglass tape and epoxy

The motors will be mounted further forward on a cooled plate

Spray rails are bamboo barbecue skewers and wood filler

Will be powered with 2 of the following

P2632 Brushless Outrunner 3800kv

The Arduino code will be the same as I ran in the Catamaran I may add differential thrust with steering angle as its a twin

#include

int ch1 = 4;

int ch2 = 5;

unsigned long ch1v;

unsigned long ch2v;

unsigned long RightLeft = 0;

unsigned long UpDown = 0;

long Trim = 0;

long Throttle = 0;

long Cooling = 0;

long PumpSpeed = 0;

Servo Servo1;

Servo Servo2;

Servo Servo3;

Servo Servo4;

#define MAX_CHAN 8

int AnIn[MAX_CHAN] = {0, };

unsigned long PPMtout = 20000;

char buf[300] = {0, };

long mS = 0;

void setup() {

Serial.begin(115200);

pinMode(ch1, INPUT);

pinMode(ch2, INPUT);

Servo1.attach(8);

Servo2.attach(9);

Servo3.attach(10);

Servo4.attach(11);

}

void loop() {

AnIn[0] = analogRead(A0);

AnIn[1] = analogRead(A1);

AnIn[2] = analogRead(A2);

AnIn[3] = analogRead(A3);

AnIn[4] = analogRead(A4);

AnIn[5] = analogRead(A5);

AnIn[6] = analogRead(A6);

AnIn[7] = analogRead(A7);

/* RAZU-2 Six turn

This device has a gain of 55mV per amp giving a 36 Amp working range,

and a resolution of 11.3777 mA per bit with the maximum output at 5 volts

which is 1024 bits in the Arduino. By the way I should point out that

these devices on a 5 volt rail will sit around 2.5 volts with no current

flowing, so at a 2 Volt delta the out put should be around 4.5 V

mS = micros();

//Get PPM from each RX channel

noInterrupts();

ch1v = pulseIn(ch1, HIGH, PPMtout);//Throttle

if(ch1v > 0)

{

ch2v = pulseIn(ch2, HIGH, PPMtout);//Imax

}

else//Fail safe

{

ch1v = 1000;

ch2v = 1000;

}

interrupts();

//ALLOW INTERRUPTS BEFORE UPDATE SERVOS

delayMicroseconds(2000);

//Calculate motor amps

long Motor_mA = ((long)(AnIn[1] - 512) * 11.0f);

int Tmax = (int)ch2v;

//Set max throttle

Throttle = (long)map((int)ch1v, 1000, 2000, 1400, Tmax);

//Calc amps

long Amps = (long)map((int)Motor_mA, 0, 36000, 0, 36);

//Calculate cooling temp RTC on AnIn[0]

int cerr = ((int)600 - (int)AnIn[0]);

//Integrate temparature

Cooling += cerr;

if(Cooling < 1000) Cooling = 1000;

else if(Cooling > 2000) Cooling = 2000;

//Use the temperature integrator plus the motor current

//36 Amps gives us 360 bits

PumpSpeed = (long)Cooling + (Amps * 10);

//Update the outputs

Servo1.writeMicroseconds((int)Throttle);

Servo2.writeMicroseconds((int)PumpSpeed);

long Cyc_mS = (micros() - mS);

//ALLOW SERVOS TO UPDATE BEFORE INTERRUPTS OFF

delayMicroseconds(18000 - Cyc_mS);

Cyc_mS = (micros() - mS);

sprintf(buf, "ch1v_Tmax:%d,ch2v_Imax:%d,Throttle:%d,AnIn[0]:%d,AnIn[1]:%d,CoolingError:%d,Cooling:%d,Imax:%d,MotorAmps:%d,Cyc_mS:%d", (int)ch1v, (int)ch2v, (int)Throttle, AnIn[0], AnIn[1], cerr, (int)Cooling, (int)Tmax, (int)Amps, (int)Cyc_mS );

Serial.println(buf);

char incomingByte = 0;

// send data only when you receive data:

while (Serial3.available() > 0) {

// read the incoming byte:

incomingByte = Serial3.read();

Serial.print((char)incomingByte);

delayMicroseconds(1000);

if(incomingByte == 13) break;

}

Serial.println( );

}

P2632 Brushless Outrunner 3800kv

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