SleepyFishy 2.0

Platform for writing and documenting code for SleepyFishy 2.0, our AUV for RoboSub. This repo covers the PWM control stack, with logic separated by node.

Pixhawk_packages

• publish_rc.py — the only node that talks to the motor via /mavros/rc/override. Includes a 0.5s watchdog: if no PWM command is received in that window, it automatically sends a neutral signal as a safety fallback.
• movement.py — standardizes movement across channels (x, y, z, r/heading). Includes closed-loop control for exact depth holding and precise heading changes.
• IMU_node.py — reads orientation as a quaternion, converts yaw to Euler degrees using tf transformations.
• state_monitor.py — checks connectivity and mode (ALT_HOLD), arms/disarms the Pixhawk.

testing_stuff

• basic_test — spins motors for 2s at 1700µs PWM to verify correct direction and function.
• depth_hold_test — dives 1m and holds for 15s, then moves forward 1m and turns 90° right. Validates closed-loop depth holding and heading control.
• u_turn_test — drives through the gate (qualification run logic).
• aligning_test — listens to /bboxes_gate to center on the gate and pass through, using YOLO-based visual alignment instead of dead reckoning.
• mission_node — state machine that takes a mission input and runs it sequentially.
• semi_final — dive 1m, 360° turn in 60° increments, pass through gate, repeat turn, return through gate (semifinal run logic).