We developed the follow programs and code in order to control and test our AUV.

Dashboard – This is our GUI interface that allows us to see what is going on in the AUV code while the AUV is tethered or via the WiFi Buoy. This application is disabled during competition Autonomous runs, but is invaliable during testing to see real time reactions in the code.

Commander – This is our Overall Control Program. It is broken into three parts: Main, Serial, Vision. The Main code is the main arcitecture of the mission program, while serial deals with communicating between all the sensors and sending information to Nav-Box, and Vision is the code that makes decisions based on the data sent from the Vision system. Overall this allows us to have mission parameters while breaking down the tasks into chunks of code that are easier to handle.