Assembly

The official assembly instructions of Bluerobotic's BlueROV are available here

First, the main structure is needed to be mounted. Using the two Aluminum T-Slot Bars, four T-Slot Nuts, and four M5x12 Cross Head Plastic Screws.

Insert the four screws into the Center Panel and lightly attached the T-slot Nuts.

Add the two Watertight Enclosure Cradles using four more nuts and plastic screws. Insert the nut into the screw a few turns and then slide into the T-Slot bar. Then, insert the Plastic Cradle so that the screws fill the notches.

Gently tighten the screws to secure the Cradle.

Open and insert the straps that will hold the Watertight Enclosure and cut two pieces of Rubber Edge Strip to fit on the curved surface of the cradle. You can secure the strips with hot glue if desired, but it is not necessary.

Using six M4x10 Button-Head Hex Screws, attach the six Round Aluminum Standoffs along the outer rim of one of the Side Panels.

Install all the motors. Refer to the next image to set the correct propellers. Note that the propellers can be CW or CCW.

The BlueROV comes with an electronics tray designed to fit the ESCs. As we are going to use PXFmini/Erle-Brain 2, the Secondary Tray is not necessary.

Attach the Terminal Block Jumpers to the Terminal Block, leaving out a jumper in the middle.

Connect the wires to the Terminal Block. The Terminal Block should be connected to the power module output.

The battery can be hold with a Velcro strip. The T200 (Thrusters) can be safely run with up to a 5s (18.5v) battery.

The autopilot is going to be the main brain of the submarine. You can use a Erle-Brain 2 or a PXFmini with a Raspberry Pi 2 or 3. Erle-Brain 2 includes a case, the PXFmini will need some extra case for the Raspberry Pi. The case can be attached to the Electronic Try with some Velcro strip.

Note during the installation that the Autopilot should be facing forward becouse the PXFmini and Erle-Brain 2 have accelerometers useful during the stabilization of the submarine

You will need some base case for the Raspberry Pi 2 or 3. You can search any base in the Internet, but you would need something like this from Thingiverse

Now you will need to wire up the connections between the ESCs and PWMs from the PXFmini.

Motor PXFmini PWM
#1 Channel #1
#2 Channel #2
#3 Channel #3
#4 Channel #4
#5 Channel #5
#6 Channel #6


If you are using an Erle-Brain 2 with camera you will need to install the camera at the bottom of the electronics tray like show in the next image:

Now you will need to wire up the connections between the ESCs and PWMs from the PXFmini.

Motor PXFmini PWM
#1 Channel #1
#2 Channel #2
#3 Channel #3
#4 Channel #4
#5 Channel #5
#6 Channel #6


If you are using a PXFmini a camera for the Raspberry Pi is necessary.

If you are using an Erle-Brain 2 with camera you will need to install the camera at the bottom of the electronics tray, like in the next image:

Install the penetrators. Use super glue to fix the cables, then fill them with epoxy. See the Cable Penetrator Tutorial from Bluerobotics.

The connections between ESCs and motors should be direct:

Green <=> Red
Blue <=> Black
Yellow <=> White

The enclosure vent allows the release of trapped air when using the watertight enclosures. Once sealed, it provides a reliable high-pressure seal against water. More info here.

Also an Ethernet cable should be installed with a cable penetrator. Note that the RJ45 of the Ethernet should be removed in order to pass through the cable penetrator. A RJ45 crimper will be necessary.