RoboSub Leak Detector

Overview

The RoboSub Leak Detector is a senior capstone project developed for Montana State University's RoboCats robotics team. The project aims to prevent catastrophic damage to the RoboSub's internal electronics by detecting water leaks early and triggering appropriate responses.

Project Motivation

During previous RoboNation RoboSub competitions, the RoboCats' autonomous submarine suffered from water leaks, leading to costly damage to critical components. This project was developed to mitigate such risks by implementing a reliable water leak detection and alert system.

Features

• Multi-Level Water Detection: Detects different levels of water accumulation using continuity and optical prism-type sensors.
• Visual Alert System: Uses high-power LEDs to provide clear underwater visibility of the alert status.
• Microcontroller Integration: Interfaces with an MSP430FR2355 microcontroller to process sensor data and trigger responses.
• Failsafe Mechanism: Initiates an automatic shutdown when critical water levels are detected.
• Low Power Consumption: Optimized to operate efficiently within the RoboSub's power constraints.

System Design

The system is built with the following components:

• MSP430FR2355 Microcontroller for sensor data processing and communication.
• Continuity Water Sensors used to detect between 0-360 mL of water intrusion into the sub.
• Optical Prism Water Sensors for detection beteen 360 mL and 500 mL of water intrusion into the sub; Induces shutdown procedure.
• High-Power LED Indicator- communicates real-time status to users outside of pool visually.
• I2C Communication used to interface with the RoboSub's onboard Linux-based Jetson Orin PC.

Repository Structure

├── app/                      # Main code that will run on the sub and submitted in the final project.
│   ├── main.c                # Main firmware source code for the MSP430 microcontroller
|   
|   docs/                     # Documents and resources used in development
|   |├──msp430datasheet.pdf   # Main resource in code development
|
|   software/                 # Python code run on Orin PC for I2C communication
|   |├──

Installation & Setup

1. Clone the repository:

   git clone https://github.com/NotJonnyJ/18ROBO_Team_Dev.git
   cd 18ROBO_Team_Dev

2. Open with Code Composer Studio v20+

   - open CCS v20 or later
   - open the project file located in /app directory
   - build and upload the project using CCS to the MSP430 Dev board to confirm connection
   

3. Connect sensors and test water detection functionality.
4. Monitor output through I2C communication to verify system status.

Usage

• When water is detected at hazard levels, the LED will flash yellow.
• If water exceeds the critical level, the LED turns red, and an emergency shutdown is initiated.
• The system logs data and sends alerts to the Jetson PC via I2C.

Contributors

• Nicholas Gill – PCB Development, Voltage Regulation, Integration
• Jonathon Hughes – Microcontroller Development, I2C Communication
• Logan Graham – Verification, Visual Alert Subsystem
• Justin Westwood – Fabrication, Hazard & Critical Level Subsystems

Acknowledgments

Special thanks to Dr. Bradley Whitaker and the Montana State University RoboCats team for their guidance and support.