Project files

Required third-party libraries: pyserial, pygame, opencv

It is recommended to manage the virtual environment with Anaconda:

2.1 Open Anaconda Prompt

2.2 Create a new virtual environment (Python 3.10):

conda create -n FinsROV python=3.10

2.3 Activate the environment:

conda activate FinsROV

2.4 Install the required libraries:

pip install pyserial pygame
pip install opencv-python

Connect the USB plug of the ROV tether cable to the computer.

Ensure the joystick is connected to the computer (wired / wireless dongle / bluetooth). You may verify detection via: Win + R → type joy.cpl → check whether the controller appears in the list.

Ensure the ROV is connected to the power supply.

Before running the program, update the serial communication port in the code to match the COM port assigned to the tether’s USB interface (check via Device Manager → Ports (COM & LPT), e.g., COM11). After confirming the COM port, locate the following line in the code:

serial.open("COM28")   # replace with the actual COM port on your device

For example, if the detected port is COM11, modify it as follows:

serial.open("COM11")

Run the usbCameraFullControl file. The control mapping is as follows:

Start: enable/disable hover control

D-pad: planar motion (forward/backward/left/right)

X / Y: planar rotation direction

A / B: ascend / descend

Note: the speed is currently hard-coded.