...
- Plug in the POE injector for the shoreside antenna next to the door. The antenna itself can be left downstairs or moved upstairs if more range is desired.
- Install a fresh battery into the rear position of a kayak and connect the power cable. Battery voltage can be checked by probing the left-most and right-most sockets of the larger connector. A fresh battery should read upwards of 13.5 volts.
- Make sure the kayak's e-stop switch is depressed. Power on the vehicle using the button at the top right of the CPU box. After 15 seconds or so you should be able to ssh to the vehicles from terra.
Deployment
Start
...
mission software
To start the default mission use the following commands (substituting the correct vehicle name):
...
At this point pMarineViewer should launch and the kayak should appear. Open a browser window and go to localhost:8080 to view a vehicle status report. With the e-stop depressed you can also check that you are able to send waypoints to the vehicle by pressing deploy and right clicking in pMarineViewer.
Launch
Make sure the vehicles are all-stopped and the e-stop is depressed before launching. Launching is a two-person operation. Park the cart a parallel to the edge of the dock and lower the side wall. Place the modem on the dock before lifting the kayak into the water. Be careful not to bang the thruster or skeg. Lower the modem into the water once the vehicle is in. Finally, twist the e-stop to release and drive the vehicle away from the dock using the remote. Press the deploy button in pMarineViewer to activate all vehicles. Note that the RC will take precedence if it is turned on.