A fairly decent amount of work was done throughout Week 6. By using SPI (Serial Peripheral Interface) communication to "talk" to the gyroscope, we have been able to program the device into returning output values. In other words, when the gyroscope moves, the returning numbers change. The only problem with these numbers is that we do not really know what these numbers mean. So we are currently working on a way to solve this problem in communications.
Mechanically, we have installed a set of "rails" along the insides of the submarine in order to hold the gyroscope board and the main board. We have also modified the cap so that it can be waterproof while still having an Ethernet cable plugged in. We were able to do this by installing a waterproof Ethernet receptacle, which will allow us to plug in the Ethernet cable while blocking the access point the water would have normally had. We have also set up a system that allows us to plug in and disconnect each motor individually. This was required since the twelve-pin connector was unable to fit into the receptacle. And finally, making the Ethernet cable perfectly buoyant is still a work in progress, but we plan on using pool noodles cut up into individual pieces in order to do this.
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