RabbitCore Microcontrollers are used throughout the vehicle. The IO Microcontroller is a RCM3365. Its tasks include motor control, discrete I/O, control of the A/D, LCD display control, and depth, pressure and compass sensors control. One important feature of the IO processor is its PID Controller. This can be used to take in commanded heading and depth as well as input from the depth sensors and other sensor systems and use this data to determine how fast the motors need to move in order to reach their destination.
The Mission Microcontroller is also a RCM 3365. This microcontroller provides communication between all the microprocessors used on the vehicle.
The hydrophone microcontroller is also a RCM3365. Its hardware input capture timer is used to measure the time intervals between output pulses from the hydrophone circuitry. Pinger algorithm outputs are sent out via Ethernet.
The Light Sensor microcontroller is a RCM 3700 microcontroller to interpret output from the sensors and configure the sensors' color and scaling properties.
