'Engineers of Innovation Wiki' - User contributions [en]

Foils

2026-04-11T12:22:04Z

Quintenlb:

The foils of the solar boat is a system that is comprised of the following:

* Wing design
* Foil assembly
* [[Autopilot]]

A small overview is given below what any of these signify in the hydrofoils.

== Wing design ==
[[File:Wing.jpg|thumb|The designed wing to be used on the solar boat.]]
The wing design is based on the calculation of the airfoil database website: http://airfoiltools.com/plotter/index

From this database an implementation has been made into matlab to tweak some parameters as well as a plot for generating the wing shape.

The matlab scripts are on the [https://git.engineersofinnovation.nl git] and can be found [https://git.engineersofinnovation.nl/matlab-scripts/Hydrofoil_Design here].

== Foil assembly ==
The foil assembly connects the wing to the foil mast and then to the hull of the boat.
[[File:Foil assembly.gif|center|thumb|230x230px|Scaled down for showing moving of the foil assembly.]]

== Autopilot ==
The [[autopilot]] is the control electronics that controls the servos of the foil assembly. This a signal PCB with that measures the angle of the solar boat and adjust accordingly towards keeping the hull above the water.

== Height sensors ==
We use ultrasonic height sensors for sensing distance between water and our hull. Currently we use cheap A02 RS485 sensors from DYP.

Datasheets can be found https://www.dypcn.com/uploads/A02-Datasheet.pdf and https://www.dypcn.com/uploads/A02-Output-Interfaces.pdf

Data from this sensor is being processed by our RS485 to CAN interface.

==== Pinout ====
{| class="wikitable"
|-
! Pin#!!Wire Colour !!Signal on wire
|-
| 1|| style="background: #0065B2;color:white;" | Blue||
|-
|2|| style="background: #241F21;color:white;" | Black||
|-
| 3|| style="background: #FFFFFF;" | White||
|-
|4|| style="background: #83603A;" | Brown||
|-
|5|| style="background: #B2B3B7;" | Gray||
|}
= CAN Messages =
All multi-byte values are little-endian. Any state byte not listed maps to <code>Unknown</code> on the receiver side.
{| class="wikitable"
!Message
!CAN ID
!DLC
!Byte
!Field
!Type
!Values / Range
|-
|ServoRudderSetpoint
|0x010
|2
|0–1
|Setpoint
|u16 LE
|1000–2000
|-
|HeightSensorFrontLeft
|0x011
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensorFrontRight
|0x012
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x013
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x014
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|ServoRudderStatus
|0x020
|3
|0
|State
|u8 enum
|0=Uninitialized, 1=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Current setpoint
|u16 LE
|1000–2000
|-
|ServoRudderCommand
|0x021
|1
|0
|Command
|u8 enum
|0=Initialize
|}

Foils

2026-04-11T12:21:32Z

Quintenlb:

The foils of the solar boat is a system that is comprised of the following:

* Wing design
* Foil assembly
* [[Autopilot]]

A small overview is given below what any of these signify in the hydrofoils.

== Wing design ==
[[File:Wing.jpg|thumb|The designed wing to be used on the solar boat.]]
The wing design is based on the calculation of the airfoil database website: http://airfoiltools.com/plotter/index

From this database an implementation has been made into matlab to tweak some parameters as well as a plot for generating the wing shape.

The matlab scripts are on the [https://git.engineersofinnovation.nl git] and can be found [https://git.engineersofinnovation.nl/matlab-scripts/Hydrofoil_Design here].

== Foil assembly ==
The foil assembly connects the wing to the foil mast and then to the hull of the boat.
[[File:Foil assembly.gif|center|thumb|230x230px|Scaled down for showing moving of the foil assembly.]]

== Autopilot ==
The [[autopilot]] is the control electronics that controls the servos of the foil assembly. This a signal PCB with that measures the angle of the solar boat and adjust accordingly towards keeping the hull above the water.

== Height sensors ==
We use ultrasonic height sensors for sensing distance between water and our hull. Currently we use cheap A02 RS485 sensors from DYP.

Datasheets can be found https://www.dypcn.com/uploads/A02-Datasheet.pdf and https://www.dypcn.com/uploads/A02-Output-Interfaces.pdf

Data from this sensor is being processed by our RS485 to CAN interface.

==== Pinout ====
{| class="wikitable"
|-
! Pin#!!Wire Colour !!Signal on wire
|-
| 1|| style="background: #0065B2;" | Blue||
|-
|2|| style="background: #241F21;color:white;" | Black||
|-
| 3|| style="background: #FFFFFF;" | White||
|-
|4|| style="background: #83603A;" | Brown||
|-
|5|| style="background: #B2B3B7;" | Gray||
|}
= CAN Messages =
All multi-byte values are little-endian. Any state byte not listed maps to <code>Unknown</code> on the receiver side.
{| class="wikitable"
!Message
!CAN ID
!DLC
!Byte
!Field
!Type
!Values / Range
|-
|ServoRudderSetpoint
|0x010
|2
|0–1
|Setpoint
|u16 LE
|1000–2000
|-
|HeightSensorFrontLeft
|0x011
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensorFrontRight
|0x012
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x013
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x014
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|ServoRudderStatus
|0x020
|3
|0
|State
|u8 enum
|0=Uninitialized, 1=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Current setpoint
|u16 LE
|1000–2000
|-
|ServoRudderCommand
|0x021
|1
|0
|Command
|u8 enum
|0=Initialize
|}

Foils

2026-04-11T12:19:51Z

Quintenlb:

The foils of the solar boat is a system that is comprised of the following:

* Wing design
* Foil assembly
* [[Autopilot]]

A small overview is given below what any of these signify in the hydrofoils.

== Wing design ==
[[File:Wing.jpg|thumb|The designed wing to be used on the solar boat.]]
The wing design is based on the calculation of the airfoil database website: http://airfoiltools.com/plotter/index

From this database an implementation has been made into matlab to tweak some parameters as well as a plot for generating the wing shape.

The matlab scripts are on the [https://git.engineersofinnovation.nl git] and can be found [https://git.engineersofinnovation.nl/matlab-scripts/Hydrofoil_Design here].

== Foil assembly ==
The foil assembly connects the wing to the foil mast and then to the hull of the boat.
[[File:Foil assembly.gif|center|thumb|230x230px|Scaled down for showing moving of the foil assembly.]]

== Autopilot ==
The [[autopilot]] is the control electronics that controls the servos of the foil assembly. This a signal PCB with that measures the angle of the solar boat and adjust accordingly towards keeping the hull above the water.

== Height sensors ==
We use ultrasonic height sensors for sensing distance between water and our hull. Currently we use cheap A02 RS485 sensors from DYP.

Datasheets can be found https://www.dypcn.com/uploads/A02-Datasheet.pdf and https://www.dypcn.com/uploads/A02-Output-Interfaces.pdf

Data from this sensor is being processed by our RS485 to CAN interface.

==== Pinout ====
{| class="wikitable"
|-
! Pin#!!Wire Colour !!Signal on wire
|-
| 1|| style="background: #83603A;" | ||Blue
|-
|2|| style="background: #FFFFFF;" | ||
|-
| 3|| style="background: #241F21;color:white;" | ||White
|-
|4|| style="background: #0065B2;" | ||Brown
|-
|5|| style="background: #B2B3B7;" | ||Gray
|}
= CAN Messages =
All multi-byte values are little-endian. Any state byte not listed maps to <code>Unknown</code> on the receiver side.
{| class="wikitable"
!Message
!CAN ID
!DLC
!Byte
!Field
!Type
!Values / Range
|-
|ServoRudderSetpoint
|0x010
|2
|0–1
|Setpoint
|u16 LE
|1000–2000
|-
|HeightSensorFrontLeft
|0x011
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensorFrontRight
|0x012
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x013
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x014
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|ServoRudderStatus
|0x020
|3
|0
|State
|u8 enum
|0=Uninitialized, 1=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Current setpoint
|u16 LE
|1000–2000
|-
|ServoRudderCommand
|0x021
|1
|0
|Command
|u8 enum
|0=Initialize
|}

Foils

2026-04-11T12:19:08Z

Quintenlb:

The foils of the solar boat is a system that is comprised of the following:

* Wing design
* Foil assembly
* [[Autopilot]]

A small overview is given below what any of these signify in the hydrofoils.

== Wing design ==
[[File:Wing.jpg|thumb|The designed wing to be used on the solar boat.]]
The wing design is based on the calculation of the airfoil database website: http://airfoiltools.com/plotter/index

From this database an implementation has been made into matlab to tweak some parameters as well as a plot for generating the wing shape.

The matlab scripts are on the [https://git.engineersofinnovation.nl git] and can be found [https://git.engineersofinnovation.nl/matlab-scripts/Hydrofoil_Design here].

== Foil assembly ==
The foil assembly connects the wing to the foil mast and then to the hull of the boat.
[[File:Foil assembly.gif|center|thumb|230x230px|Scaled down for showing moving of the foil assembly.]]

== Autopilot ==
The [[autopilot]] is the control electronics that controls the servos of the foil assembly. This a signal PCB with that measures the angle of the solar boat and adjust accordingly towards keeping the hull above the water.

== Height sensors ==
We use ultrasonic height sensors for sensing distance between water and our hull. Currently we use cheap A02 RS485 sensors from DYP.

Datasheets can be found https://www.dypcn.com/uploads/A02-Datasheet.pdf and https://www.dypcn.com/uploads/A02-Output-Interfaces.pdf

Data from this sensor is being processed by our RS485 to CAN interface.

==== Pinout ====
{| class="wikitable"
|-
! Pin#!!Wire Colour !!Signal on wire
|-
| 1|| style="background: #83603A;" | ||Blue
|-
|2|| style="background: #FFFFFF;" | ||
|-
| 3|| style="background: #0065B2;" | ||White
|-
|4|| style="background: #241F21;color:white;" | ||Brown
|-
|5|| style="background: #B2B3B7;" | ||Gray
|}
= CAN Messages =
All multi-byte values are little-endian. Any state byte not listed maps to <code>Unknown</code> on the receiver side.
{| class="wikitable"
!Message
!CAN ID
!DLC
!Byte
!Field
!Type
!Values / Range
|-
|ServoRudderSetpoint
|0x010
|2
|0–1
|Setpoint
|u16 LE
|1000–2000
|-
|HeightSensorFrontLeft
|0x011
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensorFrontRight
|0x012
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x013
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|HeightSensor (placement TBD)
|0x014
|3
|0
|State
|u8 enum
|0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Height value
|u16 LE
|distance in mm
|-
|ServoRudderStatus
|0x020
|3
|0
|State
|u8 enum
|0=Uninitialized, 1=Operational, 0xFF=Unknown
|-
|
|
|
|1–2
|Current setpoint
|u16 LE
|1000–2000
|-
|ServoRudderCommand
|0x021
|1
|0
|Command
|u8 enum
|0=Initialize
|}

Throttle

2025-11-11T17:00:47Z

Quintenlb:

The throttle controls the motor and is operated by the pilot during sailing. It controls the duty cycle of the motor via the [[CAN-bus|CAN bus]] using the standard VESC message format.

== Usage ==
[[File:Throttle Schematic.png|thumb|Throttle shown in the inactive (green led) neutral position]]
To use the throttle to control the motor the green illuminated ''arm-button'' will have to be pressed for a few seconds, however some conditions need to be met to ensure a safe start of the motor.

# The ''dead-man cord'' needs to be applied to the bottom of the throttle body, should snap in place magnetically
# The ''throttle lever'' Should be in its neutral position, pointing straight up with a noticeable tactile bump
# The [[CAN-bus|CAN bus]] need to be actively acknowledging packets, which means other devices need to be active on the bus
# No other error should have occurred inside the electronics

If one of these conditions is not met, the throttle will beep the number of times indicated above.

== Programming Throttle Position ==
The throttle position is read out by a magnet attached tot the ''throttle lever'', because the orientation of this magnet is not know in the firmware, this position can be programmed into the EEPROM. To enter programming mode hold down the arm button during power-on. A four beep descending tone should be played, and the LED should do a double blink in red continuously. To program the throttle push lever as far forward as possible and press the button, a single beep be heard. Repeat this twice with the lever in the center and finally with the lever all the way backwards. After three beeps the throttle is reprogrammed and normal operation is resumed. To summarize:

# Lever in the forward position
# Lever in the center position
# Lever in de backward position
#

If no programming is desired leave the lever alone for 10 seconds and the lever will reboot into normal mode.

== Setting the Control Mode over CAN ==
The Throttle controls the VESC motodriver at 40Hz messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] The throttle supports the following modes:

{| class="wikitable"
|+ Different control modes of the throttle
|-
! Control Mode !! Configuration Byte Value !! Unit !! Additional data required
|-
| Duty Cycle|| 0x00 || Percentage || None lever in the maximum forward position is 100%
|-
|Filtered Duty Cycle|| 0x01 || Percentage || None lever in the maximum forward position is 100%
|-
|Current Control || 0x02 || 100mA || Specify the max current for forward and backwards in two int16_t's
|-
|RPM Control || 0x03 || RPM || Specify the rpm for forward and backwards in two int16_t's
|-
|Current Control Relative
|0x04
|Percentage
|None lever in the maximum forward position is 100%
|}

These modes can be send to the throttle when the throttle is off. If the throttle is on the configuration will be ignored. A sound will play when a message is received. The message has to be send to the Throttle address 0x337, same as the reboot command. the format is as follows:

{| class="wikitable"
|+ Can Message for Setting the control mode
|-
! Byte 0 !! Byte 1 !! Byte 2 !! Byte 3 !! Byte 4 !! Byte 5
|-
| 0xAA || Control type || MSB int16_t || LSB int16_t|| MSB int16_t || LSB int16_t
|-
| Hardcoded command|| See Table Above || colspan=2 | Max value for lever completely forward || colspan=2 | Same but for backward (Positive for reverse)

|}

==== Example command: ====
<syntaxhighlight lang="bash" line="1" start="69">
cansend can2 337#AA0000000000
</syntaxhighlight>

== CAN Diagnostics messages ==
The throttle also send out messages to help debugging every 200 ms. It is send on address 0x337 and has the following format:

{| class="wikitable"
|+ Can Message for Diagnostic Purposes
|-
! Byte 0 !! Byte 1 !! Byte 2 !! Byte 3 !! Byte 4 !! Byte 5 !! Byte 6 !! Byte 7
|-
| MSB int16_t || LSB int16_t || MSB int16_t || LSB int16_t || MSB int16_t || LSB int16_t || uint8_t || Error status
|-
| colspan=2 | Filtered lever position, from +512 to -512 || colspan=2 | Raw position reported by the magnetic encoder || colspan=2 | Raw data from the deadmanswitch ADC || Gain that is required to readout the lever position || Enum of current error state. 0x00 is good
|}

If any of the error status bits are set, the throttle is set into IDLE mode and will shut off the motor. The following table shows what the bitfield represents:

{| class="wikitable"
|+ Different control modes of the throttle
|-
! Bit !! Enum Name !! Explanation
|-
| 0 to 2 || twiError || See next table for possible values
|-
| 3 || noLimitsLoaded || Reading of EEPROM for throttle limits failed
|-
| 4 || gainClipping || The Magnetic encoder detected no good magnetic field present
|-
| 5 || gainInvalid || The gain value read from the magnetic encoder is beyond the range specified in software
|-
| 6 || deadmanMissing || The hall sensor of the deadman-switch doesn't detect a strong enough magnet
|-
| 7 || impeadanceHigh || The impeadance of the deadman signal is too high, indicating a bad connection
|}

{| class="wikitable"
|+ TWI error states
|-
! Value !! Error name !! Error Description
|-
| 0 || TWI_ERROR_NoError || Indicates that the command completed successfully.
|-
| 1 || TWI_ERROR_BusFault || A TWI bus fault occurred while attempting to capture the bus.
|-
| 2 || TWI_ERROR_BusCaptureTimeout || A timeout occurred whilst waiting for the bus to be ready.
|-
| 3 || TWI_ERROR_SlaveResponseTimeout || No ACK received at the nominated slave address within the timeout period.
|-
| 4 || TWI_ERROR_SlaveNotReady || Slave NAKed the TWI bus START condition.
|-
| 5 || TWI_ERROR_SlaveNAK || Slave NAKed whilst attempting to send data to the device.
|}

Rudder

2025-11-11T08:42:55Z

Quintenlb:

The motor currently in use in the rudder is the Lehner 30100/12 with a NTC Temp. Sensor (B 25/100 3988 ±1%) installed. There is also a [[Hub Sensor|magnetic encoder]] placed behind the motor.

=== Rudder-controller ===
To accommodate the new rudder design and its features, a controller is needed. With this controller we want to enable a multiple of functionalities that will help with the integrate cooling system and the control of the back-foil.

The design should therefore have the following requirements:
{| class="wikitable"
|+Requirements for the rudder-controller
!Feature
!Description
!Electrical connections
|-
|Power
|Power will be coming from the [[CAN-bus]]
It is important that the inrush of the connected motors must not decrease the [[CAN-bus]] voltage.
|4-pins connector that hosts the [[CAN-bus]] and Power
|-
|Communication
|The board will use the [[CAN-bus]] to communicate and retrieve commands
|4-pins connector that hosts the [[CAN-bus]] and Power
|-
|Back-foil control
|A TMC2209 or comparable is needed that supports [https://www.analog.com/en/lp/001/building-better-stepper-motor-system.html StallGuard™]
|Available on the platform connected to the back-foil motor
|-
|Back-foil motor
|The [https://www.omc-stepperonline.com/nema-11-stepper-l-31mm-w-rear-shaft-gear-ratio-14-1-planetary-gearbox-11hs12-0674d-pg14 Nema 11 Stepper motor] fits the rudder design to control the back-foil.
|4-pins connector for power and control
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
| style="background: #ED1D0E;color:white;" |Red
|B+
|-
| style="background: #000000;color:white;" |Black
|A+
|-
| style="background: #2222EE;color:white;" |Blue
|B-
|-
| style="background: #116902;color:white;" |Green
|A-
|}
|-
|Water pump
|The available waterpump: [https://nl.aliexpress.com/i/32870145384.html ZC-A210](24 V version)
|2-pins connector
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
| style="background: #ED1D0E;color:white;" |Red
|24v
|-
| style="background: #000000;color:white;" |Black
|GND
|}
|-
|Flowmeter
|We have 2 flowmeters for inlet and outlet: [https://nl.aliexpress.com/item/1005006813605315.html?gatewayAdapt=glo2nld#nav-specification DWS-MH-02]
|6-pins connector
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
| style="background: #ED1D0E;color:white;" | Red
|5-24v
|-
| style="background: #000000;color:white;" | Black
| GND
|-
| style="background: #116902;color:white;" |Green
|50k Temp
|-
| style="background: #CDDB00;" |Yellow
|Pulse out
|-
| style="background: #EE2266;color:white;" | Red and Blue
|TDS sensor
|}
|-
|Platform
|Right now(10-11-2025) the [https://www.duet3d.com/duet3toolboard1lc Duet 3 1LC] is available to use for prototyping.
Other options are [https://www.amazon.nl/-/en/BIGTREETECH-EBB-36-communication-STM32G0B1CBT6/dp/B0B1JBH8R5?dib=eyJ2IjoiMSJ9.u31ykTjqWpKnziWf-HlcFHPpjlpjFLlMqEGFS3VpEFoPMYB-ntfAoEM9qNUGVXtrwW3rHJDEbeMY6RI2Lnt_Jtbu8Ol-uZWBKFFmNuOY6nmBhfIGwyNLOpUkqAEEaxYpMGk7qOkz7OW_7PpcIhFg62Eqz-3x8XMlKipaq8vMtd6wiodByGlve9HrpBM9C38kSyzMRwFGneHUDJH7guP-7ENePjKpuOrLC7x83iRWhyoga6SRJgVPjpXohVvbPL6_Za6mVcNkD2xQyB3WFCoZoBKtCA469K9urtnIuDb5imU.4tJLo0B2n2WNGx17gcoOJ0Y6ITTdpQukln7ZNMG0YR8&dib_tag=se&keywords=ebb36&qid=1762803999&sr=8-1&th=1 EBB 36] and [https://mellow.klipper.cn/en/docs/ProductDoc/ToolBoard/fly-sht36/sht36/ SHT36 with TMC2209]
|Host listed connections above.
|}

Rudder

2025-11-10T20:33:21Z

Quintenlb:

The motor currently in use in the rudder is the Lehner 30100/12 with a NTC Temp. Sensor (B 25/100 3988 ±1%) installed. There is also a [[Hub Sensor|magnetic encoder]] placed behind the motor.

=== Rudder-controller ===
To accommodate the new rudder design and its features, a controller is needed. With this controller we want to enable a multiple of functionalities that will help with the integrate cooling system and the control of the back-foil.

The design should therefore have the following requirements:
{| class="wikitable"
|+Requirements for the rudder-controller
!Feature
!Description
!Electrical connections
|-
|Power
|Power will be coming from the [[CAN-bus]]
It is important that the inrush of the connected motors must not decrease the [[CAN-bus]] voltage.
|4-pins connector that hosts the [[CAN-bus]] and Power
|-
|Communication
|The board will use the [[CAN-bus]] to communicate and retrieve commands
|4-pins connector that hosts the [[CAN-bus]] and Power
|-
|Back-foil control
|A TMC2209 or comparable is needed that supports [https://www.analog.com/en/lp/001/building-better-stepper-motor-system.html StallGuard™]
|Available on the platform connected to the back-foil motor
|-
|Back-foil motor
|The [https://www.omc-stepperonline.com/nema-11-stepper-l-31mm-w-rear-shaft-gear-ratio-14-1-planetary-gearbox-11hs12-0674d-pg14 Nema 11 Stepper motor] fits the rudder design to control the back-foil.
|4-pins connector for power and control
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
|Red
|B+
|-
|Black
|A+
|-
|Blue
|B-
|-
|Green
|A-
|}
|-
|Water pump
|The available waterpump: [https://nl.aliexpress.com/i/32870145384.html ZC-A210]
|2-pins connector
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
|Red
|24v
|-
|Black
|GND
|}
|-
|Flowmeter
|We have 2 flowmeters for inlet and outlet: [https://nl.aliexpress.com/item/1005006813605315.html?gatewayAdapt=glo2nld#nav-specification DWS-MH-02]
|6-pins connector
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
|Red
|5-24v
|-
|Black
|GND
|-
|Green
|50k Temp
|-
|Yellow
|Pulse out
|-
|Red and Blue
|TDS sensor
|}
|-
|Platform
|Right now(10-11-2025) the [https://www.duet3d.com/duet3toolboard1lc Duet 3 1LC] is available to use for prototyping.
Other options are [https://www.amazon.nl/-/en/BIGTREETECH-EBB-36-communication-STM32G0B1CBT6/dp/B0B1JBH8R5?dib=eyJ2IjoiMSJ9.u31ykTjqWpKnziWf-HlcFHPpjlpjFLlMqEGFS3VpEFoPMYB-ntfAoEM9qNUGVXtrwW3rHJDEbeMY6RI2Lnt_Jtbu8Ol-uZWBKFFmNuOY6nmBhfIGwyNLOpUkqAEEaxYpMGk7qOkz7OW_7PpcIhFg62Eqz-3x8XMlKipaq8vMtd6wiodByGlve9HrpBM9C38kSyzMRwFGneHUDJH7guP-7ENePjKpuOrLC7x83iRWhyoga6SRJgVPjpXohVvbPL6_Za6mVcNkD2xQyB3WFCoZoBKtCA469K9urtnIuDb5imU.4tJLo0B2n2WNGx17gcoOJ0Y6ITTdpQukln7ZNMG0YR8&dib_tag=se&keywords=ebb36&qid=1762803999&sr=8-1&th=1 EBB 36] and [https://mellow.klipper.cn/en/docs/ProductDoc/ToolBoard/fly-sht36/sht36/ SHT36 with TMC2209]
|Host listed connections above.
|}

Rudder

2025-11-10T20:27:35Z

Quintenlb:

The motor currently in use in the rudder is the Lehner 30100/12 with a NTC Temp. Sensor (B 25/100 3988 ±1%) installed. There is also a [[Hub Sensor|magnetic encoder]] placed behind the motor.

=== Rudder-controller ===
To accommodate the new rudder design and its features, a controller is needed. With this controller we want to enable a multiple of functionalities that will help with the integrate cooling system and the control of the back-foil.

The design should therefore have the following requirements:
{| class="wikitable"
|+Requirements for the rudder-controller
!Feature
!Description
!Electrical connections
|-
|Power
|Power will be coming from the [[CAN-bus]]
|4-pins connector that hosts the CAN-bus and Power
|-
|Communication
|The board will use the [[CAN-bus]] to communicate and retrieve commands
|4-pins connector that hosts the CAN-bus and Power
|-
|Back-foil control
|A TMC2209 or comparable is needed that supports [https://www.analog.com/en/lp/001/building-better-stepper-motor-system.html StallGuard™]
|Available on the platform connected to the back-foil motor
|-
|Back-foil motor
|The control of the back-foil will be done with the [https://www.omc-stepperonline.com/nema-11-stepper-l-31mm-w-rear-shaft-gear-ratio-14-1-planetary-gearbox-11hs12-0674d-pg14 Nema 11 Stepper motor]
|4-pins connector for power and control
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
|Red
|B+
|-
|Black
|A+
|-
|Blue
|B-
|-
|Green
|A-
|}
|-
|Water pump
|For the water flow the following pump has been chosen: [https://nl.aliexpress.com/i/32870145384.html ZC-A210]
|2-pins connector
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
|Red
|24v
|-
|Black
|GND
|}
|-
|Flowmeter
|We have 2 flowmeters for inlet and outlet: [https://nl.aliexpress.com/item/1005006813605315.html?gatewayAdapt=glo2nld#nav-specification DWS-MH-02]
|6-pins connector
{| class="wikitable mw-collapsible mw-collapsed"
|+Connection information
!Color
!Function
|-
|Red
|5-24v
|-
|Black
|GND
|-
|Green
|50k Temp
|-
|Yellow
|Pulse out
|-
|Red and Blue
|TDS sensor
|}
|-
|Platform
|Right now(10-11-2025) the [https://www.duet3d.com/duet3toolboard1lc Duet 3 1LC] is available to use for prototyping.
Other options are [https://www.amazon.nl/-/en/BIGTREETECH-EBB-36-communication-STM32G0B1CBT6/dp/B0B1JBH8R5?dib=eyJ2IjoiMSJ9.u31ykTjqWpKnziWf-HlcFHPpjlpjFLlMqEGFS3VpEFoPMYB-ntfAoEM9qNUGVXtrwW3rHJDEbeMY6RI2Lnt_Jtbu8Ol-uZWBKFFmNuOY6nmBhfIGwyNLOpUkqAEEaxYpMGk7qOkz7OW_7PpcIhFg62Eqz-3x8XMlKipaq8vMtd6wiodByGlve9HrpBM9C38kSyzMRwFGneHUDJH7guP-7ENePjKpuOrLC7x83iRWhyoga6SRJgVPjpXohVvbPL6_Za6mVcNkD2xQyB3WFCoZoBKtCA469K9urtnIuDb5imU.4tJLo0B2n2WNGx17gcoOJ0Y6ITTdpQukln7ZNMG0YR8&dib_tag=se&keywords=ebb36&qid=1762803999&sr=8-1&th=1 EBB 36] and [https://mellow.klipper.cn/en/docs/ProductDoc/ToolBoard/fly-sht36/sht36/ SHT36 with TMC2209]
|Host listed connections above.
|}

CAN-bus

2025-06-19T08:13:37Z

Quintenlb: Added CAN-Bus ID overview

The communication between the electronics within the [[Solar boat (boii)|solar boat]] is build upon the CAN-bus protocol, where the [[datalogger]] logs the CAN messages. Pinout of our Binder connectors are:

== CAN-bus ID overview ==
<syntaxhighlight lang="markdown">
0x100 EoI Battery start
0x10F EoI Battery end

0x200 EoI GNNS info, u8 fix (bool); u8 sats; u8 sats used
0x201 EoI GNNS f32 speed, kmh; f32 direction, degrees
0x202 EoI GNNS f64 Latitude, degrees
0x203 EoI GNNS f64 Longitude, degrees
0x204 EoI GNNS date time, u16 year, u8 month, u8 day, u8 hour, u8 minute, u8 second

0x302 MG Battery
0x402 MG Battery
0x482 MG Battery cell voltage

0x700 MPPT start
0x77F MPPT end

0x0900 THROTTLE To VESC
0x1337 THROTTLE Status

0x0909 VESC Status message 1
0x0E09 VESC Status message 2
0x0F09 VESC Status message 3
0x1009 VESC Status message 4
0x1B09 VESC Status message 5
</syntaxhighlight>

== CAN-bus pinout ==
{| class="wikitable"
|+ Colours of the Standard Binder CAN Cable and its pinout
|-
! Binder Connector pin Number !! Wire Colour !! Signal on wire
|-
| 1 ||style="background: #83603A;"| Brown || 24v Power
|-
| 2 ||style="background: #FFFFFF;"| White || CAN H
|-
| 3 ||style="background: #0065B2;"| Blue || CAN L
|-
| 4 ||style="background: #241F21;color:white;"| Black || Ground
|-
| 5 ||style="background: #B2B3B7;"| Gray || Safety

|}

Note that the M12 connectors have a different pinout and thus different colour wires. To make compatibility between systems easier the binder connectors are soldered with the wrong colored wires so that plugging in a M12 device results in the right signals being passed to the Binder connector. This Compatibility pinout is shown below:

{| class="wikitable"
|+ NON-STANDARD!! Colours when connecting an M12 cable to a binder connector NON-STANDARD!!
|-
! Binder Connector pin Number !! Wire Colour !! Signal on wire
|-
| 1 ||style="background: #FFFFFF;"| White || 24v Power
|-
| 2 ||style="background: #241F21;color:white;"| Black || CAN H
|-
| 3 ||style="background: #B2B3B7;"| Gray || CAN L
|-
| 4 ||style="background: #0065B2;"| Blue || Ground
|-
| 5 ||style="background: #83603A;"| Brown || Safety
|-

|}

== Battery (MG) CAN-format (No longer used) ==
As of now the MG electronics [[battery]] is used in the [[Solar boat (boii)|solar boat]]. Although a new battery is being developed, this MG battery is still in use (as of September '22). Therefore the battery format is given here below.
{| class="wikitable"
|+
!Node-ID
!Index
!Subindex
!Data
!Type
!Resolution
|-
|0x302
|0x2005
|0x01
|Voltage <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|0x02
|Current <code>[A]</code>
|int16_t
|10 <code>[mA/LSB]</code>
|-
|
|
|0x03
|Current Discharge <code>[A]</code>
|int16_t
|10 <code>[mA/LSB]</code>
|-
|
|
|0x04
|Current Charge <code>[A]</code>
|int16_t
|10 <code>[mA/LSB]</code>
|-
|
|
|0x05
|State-of-Charge <code>[%]</code>
|int8_t
|1 <code>[%/LSB]</code>
|-
|
|
|0x06
|
|
|
|-
|
|
|0x07
|Time to Go <code>[min]</code>
|uint16_t
|1 <code>[min/LSB]</code>
|-
|
|
|
|
|
|
|-
|0x402
|0x2005
|0x09
|Cell Temperature High <code>[°C]</code>
|int8_t
|1 <code>[°C/LSB]</code>
|-
|
|
|0x0A
|
|
|
|-
|
|
|0x0B
|Cell Temperature Low <code>[°C]</code>
|int8_t
|1 <code>[°C/LSB]</code>
|-
|
|
|0x0C
|Cell Voltage High <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|0x0D
|Cell Voltage Low <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|0x0E
|BMS State
|uint32_t
|
|-
|
|
|0x0F
|Temperature Collection <code>[°C]</code>
|4x uint8_t
|1 <code>[°C/LSB]</code>
|-
|
|
|
|
|
|
|-
|0x482
|0x2000
|Cell nr
|Cell <code>[Cell_nr]</code> Voltage <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|
|
|
|
|-
|0x202
|Don't Care
|Don't Care
|Power Level <code>[%]</code>
|uint8_t
|1 <code>[%/LSB]</code>
|}

Throttle

2024-08-23T11:37:30Z

Quintenlb: added command

The throttle controls the motor and is operated by the pilot during sailing. It controls the duty cycle of the motor via the CAN bus using the standard VESC message format.

== Usage ==
[[File:Throttle Schematic.png|thumb|Throttle shown in the inactive (green led) neutral position]]
To use the throttle to control the motor the green illuminated ''arm-button'' will have to be pressed for a few seconds, however some conditions need to be met to ensure a safe start of the motor.

# The ''dead-man cord'' needs to be applied to the bottom of the throttle body, should snap in place magnetically
# The ''throttle lever'' Should be in its neutral position, pointing straight up with a noticeable tactile bump
# The CAN bus need to be actively acknowledging packets, which means other devices need to be active on the bus
# No other error should have occurred inside the electronics

If one of these conditions is not met, the throttle will beep the number of times indicated above.

== Programming Throttle Position ==
The throttle position is read out by a magnet attached tot the ''throttle lever'', because the orientation of this magnet is not know in the firmware, this position can be programmed into the EEPROM. To enter programming mode hold down the arm button during power-on. A four beep descending tone should be played, and the LED should do a double blink in red continuously. To program the throttle push lever as far forward as possible and press the button, a single beep be heard. Repeat this twice with the lever in the center and finally with the lever all the way backwards. After three beeps the throttle is reprogrammed and normal operation is resumed. To summarize:

# Lever in the forward position
# Lever in the center position
# Lever in de backward position
#

If no programming is desired leave the lever alone for 10 seconds and the lever will reboot into normal mode.

== Setting the Control Mode over CAN ==
The Throttle controls the VESC motodriver at 10Hz messaging rate with the default CAN format implemented inside the VESC. [https://dongilc.gitbook.io/openrobot-inc/tutorials/control-with-can More info on the format.] The throttle supports four modes:

{| class="wikitable"
|+ Different control modes of the throttle
|-
! Control Mode !! Configuration Byte Value !! Unit !! Additional data required
|-
| Duty Cycle|| 0x01 || Percentage || None lever in the maximum forward position is 100%
|-
|Filtered Duty Cycle|| 0x02 || Percentage || None lever in the maximum forward position is 100%
|-
|Current Control || 0x03 || 100mA || Specify the max current for forward and backwards in two int16_t's
|-
|RPM Control || 0x04 || RPM || Specify the rpm for forward and backwards in two int16_t's
|}

These modes can be send to the throttle when the throttle is off. If the throttle is on the configuration will be ignored. A sound will play when a message is received. The message has to be send to the Throttle address 0x337, same as the reboot command. the format is as follows:

{| class="wikitable"
|+ Can Message for Setting the control mode
|-
! Byte 0 !! Byte 1 !! Byte 2 !! Byte 3 !! Byte 4 !! Byte 5
|-
| 0xAA || Control type || MSB int16_t || LSB int16_t|| MSB int16_t || LSB int16_t
|-
| Hardcoded command|| See Table Above || colspan=2 | Max value for lever completely forward || colspan=2 | Same but for backward (Positive for reverse)

|}

==== Example command: ====
<syntaxhighlight lang="bash" line="1" start="69">
cansend can2 337#AA0000000000
</syntaxhighlight>

== CAN Diagnostics messages ==
The throttle also send out messages to help debugging every 200 ms. It is send on address 0x337 and has the following format:

{| class="wikitable"
|+ Can Message for Diagnostic Purposes
|-
! Byte 0 !! Byte 1 !! Byte 2 !! Byte 3 !! Byte 4 !! Byte 5 !! Byte 6 !! Byte 7
|-
| MSB int16_t || LSB int16_t || MSB int16_t || LSB int16_t || MSB int16_t || LSB int16_t || uint8_t || Error status
|-
| colspan=2 | Filtered lever position, from +512 to -512 || colspan=2 | Raw position reported by the magnetic encoder || colspan=2 | Raw data from the deadmanswitch ADC || Gain that is required to readout the lever position || Enum of current error state. 0x00 is good
|}

If any of the error status bits are set, the throttle is set into IDLE mode and will shut off the motor. The following table shows what the bitfield represents:

{| class="wikitable"
|+ Different control modes of the throttle
|-
! Bit !! Enum Name !! Explanation
|-
| 0 to 2 || twiError || See next table for possible values
|-
| 3 || noLimitsLoaded || Reading of EEPROM for throttle limits failed
|-
| 4 || gainClipping || The Magnetic encoder detected no good magnetic field present
|-
| 5 || gainInvalid || The gain value read from the magnetic encoder is beyond the range specified in software
|-
| 6 || deadmanMissing || The hall sensor of the deadman-switch doesn't detect a strong enough magnet
|-
| 7 || impeadanceHigh || The impeadance of the deadman signal is too high, indicating a bad connection
|}

{| class="wikitable"
|+ TWI error states
|-
! Value !! Error name !! Error Description
|-
| 0 || TWI_ERROR_NoError || Indicates that the command completed successfully.
|-
| 1 || TWI_ERROR_BusFault || A TWI bus fault occurred while attempting to capture the bus.
|-
| 2 || TWI_ERROR_BusCaptureTimeout || A timeout occurred whilst waiting for the bus to be ready.
|-
| 3 || TWI_ERROR_SlaveResponseTimeout || No ACK received at the nominated slave address within the timeout period.
|-
| 4 || TWI_ERROR_SlaveNotReady || Slave NAKed the TWI bus START condition.
|-
| 5 || TWI_ERROR_SlaveNAK || Slave NAKed whilst attempting to send data to the device.
|}

Project catalogue

2024-06-03T18:54:25Z

Quintenlb:

There are a lot of on-going as well as finished projects within EoI. A catalogue of the projects are given below with a short description.

{| class="wikitable sortable"
|-
!Project!!Description
|-
|[[Battery]]||Development and info about the battery.
|-
|[[CAN-bus]]||All the CAN-bus related format and data generated.
|-
|[[MPPT]]||Everything about the MPPTs as well as the solar panels used on the solar boat.
|-
|[[Solar boat (boii)]]||An overview about the solar boat as well as a list of on-going projects with their project owner.
|-
|[[Linux servers]]
|The servers used within the development as well as the hosting for Engineers of Innovation.
|-
|[[Live data]]
|About the live data used and a small overview of the process where the data is send from the boat to the Linux servers.
|-
|[[Motordriver]]
|The in-house developed motordrvier information can be found here.
|-
|[[Foils]]
|Foils development for the solar boat that will be used.
|-
|[[Dashboard]]
|The dashboard used on screen of the datalogger for the sailor to look at the data.
|-
|[[Datalogger]]
|Everything one needs to know about the process of the datalogger.
|-
|[[Steering system]]
|About the steering system used in the solar boat.
|-
|[[Tailpiece]]
|The development of the tailpiece with the motor can be found here.
|-
|[[Cockpit rim]]
|The rim job around the sailor to avoid getting water in.
|-
|[[TLC solar boat]]
|Quality of life finishing touches solar boat.
|-
|[[Instrumentation Panel]]
|The instrumentation panel in the cockpit that hosts all the buttons.
|}

Engineers of Innovation

2024-06-03T18:42:04Z

Quintenlb:

Consult the [[mediawikiwiki:Special:MyLanguage/Help:Contents|User's Guide]] for information on using the wiki software.

== Getting started ==
To get started with Engineers of Innovation a couple of links are shown here:

* [https://engineersofinnovation.nl Our own website]
* [https://git.engineersofinnovation.nl Git]
* [https://engineers-of-innovation.365.altium.com/ Altium 365 workspace]

=== Wiki page getting started ===
The different programs that are used all have their respective wiki page for getting started on getting an account and how to access the workspaces. The pages are linked below for easy access:

* [[Altium|Getting started with Altium Designer]]
*[[Fusion 360|Getting started with Fusion 360]]
*[[GIT|Getting started with Git]]

== The Solar boat (boii) ==
[[File:Solar boat with horizon.jpg|thumb|500x500px|Solar boat sailing on the sea around Madeira.]]Our solar boat is an 8 meter long and 1,20 meter wide ship. Where we sail competitive with different teams from Europe.

The clickable picture below shows the different systems within the solar boat, these systems are their own respective project.

Any other projects and subjects going on within the association can be found in the projects [[Project catalogue|catalogue]].

<imagemap>
File:Boot blokschema.drawio.png|frameless|1000x1000px
rect 72 230 315 354 [[Rudder]]
rect 692 230 936 354 [[MPPT]]
rect 352 130 595 253 [[Battery]]
rect 352 310 595 433 [[Motordriver]]
rect 1532 90 1776 214 [[Datalogger]]
rect 1532 350 1775 473 [[Throttle]]
rect 1892 110 2201 208 [[Autopilot]]
rect 1892 330 2136 454 [[Foils]]
rect 2192 210 2436 334 [[MPPT]]
</imagemap>

== Page syntax! ==
Before anyone can edit or add pages to the wiki. An account [[Special:RequestAccount|request]] need to be made.

For new users or users who just want to lookup what the syntax is, a '''[[Test]]''' page is created with general use cases.

Engineers of Innovation

2023-09-12T08:26:11Z

Quintenlb: Text update

Consult the [[mediawikiwiki:Special:MyLanguage/Help:Contents|User's Guide]] for information on using the wiki software.

== Getting started ==
To get started with Engineers of Innovation a couple of links are shown here:

* [https://engineersofinnovation.nl Our own website]
* [https://git.engineersofinnovation.nl Git]
* [https://engineers-of-innovation.365.altium.com/ Altium 365 workspace]

=== Wiki page getting started ===
The different programs that are used all have their respective wiki page for getting started on getting an account and how to access the workspaces. The pages are linked below for easy access:

* [[Altium|Getting started with Altium Designer]]
*[[Fusion 360|Getting started with Fusion 360]]
*[[GIT|Getting started with Git]]

== The Solar boat (boii) ==
[[File:Solar boat with horizon.jpg|thumb|500x500px|Solar boat sailing on the sea around Madeira.]]Our solar boat is an 8 meter long and 1,20 meter wide ship. Where we sail competitive with different teams from Europe.

The clickable picture below shows the different systems within the solar boat, these systems are their own respective project.

Any other projects going on within the association can be found in the projects [[Project catalogue|catalogue]].

<imagemap>
File:Boot blokschema.drawio.png|frameless|1000x1000px
rect 72 230 315 354 [[Rudder]]
rect 692 230 936 354 [[MPPT]]
rect 352 130 595 253 [[Battery]]
rect 352 310 595 433 [[Motordriver]]
rect 1532 90 1776 214 [[Datalogger]]
rect 1532 350 1775 473 [[Throttle]]
rect 1892 110 2201 208 [[Autopilot]]
rect 1892 330 2136 454 [[Foils]]
rect 2192 210 2436 334 [[MPPT]]
</imagemap>

== Page syntax! ==
Before anyone can edit or add pages to the wiki. An account [[Special:RequestAccount|request]] need to be made.

For new users or users who just want to lookup what the syntax is, a '''[[Test]]''' page is created with general use cases.

Engineers of Innovation

2023-09-12T08:20:00Z

Quintenlb: Removed project table since projects do not have a representative anymore

Consult the [[mediawikiwiki:Special:MyLanguage/Help:Contents|User's Guide]] for information on using the wiki software.

== Getting started ==
To get started with Engineers of Innovation a couple of links are shown here:

* [https://engineersofinnovation.nl Our own website]
* [https://git.engineersofinnovation.nl Git]
* [https://engineers-of-innovation.365.altium.com/ Altium 365 workspace]

=== Wiki page getting started ===
The different programs that are used all have their respective wiki page for getting started on getting an account and how to access the workspaces. The pages are linked below for easy access:

* [[Altium|Getting started with Altium Designer]]
*[[Fusion 360|Getting started with Fusion 360]]
*[[GIT|Getting started with Git]]

== The Solar boat (boii) ==
[[File:Solar boat with horizon.jpg|thumb|500x500px|Solar boat sailing on the sea around Madeira.]]Our solar boat is an 8 meter long and 1,20 meter wide ship. Where we sail competitive with different teams from Europe.

Currently different projects are going on within the association, these projects are listed below.

A catalogue of all the projects can be found [[Project catalogue|here]].

<imagemap>
File:Boot blokschema.drawio.png|frameless|1000x1000px
rect 72 230 315 354 [[Rudder]]
rect 692 230 936 354 [[MPPT]]
rect 352 130 595 253 [[Battery]]
rect 352 310 595 433 [[Motordriver]]
rect 1532 90 1776 214 [[Datalogger]]
rect 1532 350 1775 473 [[Throttle]]
rect 1892 110 2201 208 [[Autopilot]]
rect 1892 330 2136 454 [[Foils]]
rect 2192 210 2436 334 [[MPPT]]
</imagemap>

== Page syntax! ==
Before anyone can edit or add pages to the wiki. An account [[Special:RequestAccount|request]] need to be made.

For new users or users who just want to lookup what the syntax is, a '''[[Test]]''' page is created with general use cases.

Engineers of Innovation

2023-09-11T17:14:09Z

Quintenlb:

Consult the [[mediawikiwiki:Special:MyLanguage/Help:Contents|User's Guide]] for information on using the wiki software.

== Getting started ==
To get started with Engineers of Innovation a couple of links are shown here:

* [https://engineersofinnovation.nl Our own website]
* [https://git.engineersofinnovation.nl Git]
* [https://engineers-of-innovation.365.altium.com/ Altium 365 workspace]

=== Wiki page getting started ===
The different programs that are used all have their respective wiki page for getting started on getting an account and how to access the workspaces. The pages are linked below for easy access:

* [[Altium|Getting started with Altium Designer]]
*[[Fusion 360|Getting started with Fusion 360]]
*[[GIT|Getting started with Git]]

== Ongoing projects ==
[[File:Solar boat with horizon.jpg|thumb|500x500px|Solar boat sailing on the sea around Madeira.]]
A list of different projects are given here with their respective project owners, where one should approach when they want to participate in the development process.

If you do not see a project listed below but want to work on something or you are unsure what to do you can always contact '''Quinten''' or '''Aran.'''
{| class="wikitable"
|+
!Project
|-
|[[Battery]]
|-
|[[Datalogger]]
|-
|[[MPPT]]
|-
|[[Foils]]
|-
|[[Live data]]
|-
|[[QT dashboard]]
|-
|[[Steering system]]
|-
|[[BLDC motordriver]]
|-
|[[Tailpiece]]
|-
|[[TLC solar boat|Small projects]] in and around the boat for sailing
(too many to be put here)
|}

== The Solar boat (boii) ==

Our solar boat is an 8 meter long and 1,20 meter wide ship. Where we sail competitive with different teams from Europe.

Currently different projects are going on within the association, these projects are listed below.

A catalogue of all the projects can be found [[Project catalogue|here]].

<imagemap>
File:Boot blokschema.drawio.png|frameless|1000x1000px
rect 72 230 315 354 [[Rudder]]
rect 692 230 936 354 [[MPPT]]
rect 352 130 595 253 [[Battery]]
rect 352 310 595 433 [[Motordriver]]
rect 1532 90 1776 214 [[Datalogger]]
rect 1532 350 1775 473 [[Throttle]]
rect 1892 110 2201 208 [[Autopilot]]
rect 1892 330 2136 454 [[Foils]]
rect 2192 210 2436 334 [[MPPT]]
</imagemap>

== Page syntax! ==
Before anyone can edit or add pages to the wiki. An account [[Special:RequestAccount|request]] need to be made.

For new users or users who just want to lookup what the syntax is, a '''[[Test]]''' page is created with general use cases.

User talk:Laurage

2023-08-07T17:33:10Z

Quintenlb: Welcome!

'''Welcome to '''Engineers of Innovation Wiki'''!'''
We hope you will contribute much and well.
You will probably want to read the [https://www.mediawiki.org/wiki/Special:MyLanguage/Help:Contents help pages].
Again, welcome and have fun! [[User:Quintenlb|Quintenlb]] ([[User talk:Quintenlb|talk]]) 17:33, 7 August 2023 (UTC)

User:Laurage

2023-08-07T17:33:10Z

Quintenlb: Creating user page for new user.

┏(-_-)┛┗(-_- )┓ ┏(-_-)┛┗(-_- )┓ ┏(-_-)┛┗(-_- )┓ ┏(-_-)┛┗(-_- )┓ ┏(-_-)┛┗(-_- )┓ ┏(-_-)┛┗(-_- )┓

MPPT

2023-07-17T15:01:21Z

Quintenlb: Increased readability of mppt picture

The Maximum Power Point Trackers (MPPT) are the abdomens of the SolarBoat (BoII) that gives the battery juice from the solar panels.

The MPPTs are self made, where the hardware can be found on the altium365 [https://engineers-of-innovation.365.altium.com workspace] and the software on [https://git.engineersofinnovation.nl/boat-fw/mppt-software Git].

== What is a MPPT? ==
A MPPT (Maximum Power Point Tracker) is a device that ensures that a solar panel is used at the most efficient point of its I-V curve. The I-V curve of a solar panel can be redrawn into an P-V curve by summing the voltage and current, resulting in the voltage at which the panel generates the most power. Because the output of the MPPT is connected to a battery (which is a very constant voltage source) any adjustments in the dutycycle of the MPPT influence the voltage over the solar panel, making it possible to steer the panel towards its maximum power point.

== PCBs ==
[[File:2023-07-17 Updated MPPTS WHITEBG.png|thumb|815x815px|Deck layout with corresponding MPPTs ID per panel.]]
There are probably 8 MPPT PCBs in total. Where 4 are used in the current SolarBoat. The picture on the right shows the layout of the solar panels with the corresponding MPPTs.

MPPT

2023-07-17T14:45:10Z

Quintenlb: Updated MPPT layout

The Maximum Power Point Trackers (MPPT) are the abdomens of the SolarBoat (BoII) that gives the battery juice from the solar panels.

The MPPTs are self made, where the hardware can be found on the altium365 [https://engineers-of-innovation.365.altium.com workspace] and the software on [https://git.engineersofinnovation.nl/boat-fw/mppt-software Git].

== What is a MPPT? ==
A MPPT (Maximum Power Point Tracker) is a device that ensures that a solar panel is used at the most efficient point of its I-V curve. The I-V curve of a solar panel can be redrawn into an P-V curve by summing the voltage and current, resulting in the voltage at which the panel generates the most power. Because the output of the MPPT is connected to a battery (which is a very constant voltage source) any adjustments in the dutycycle of the MPPT influence the voltage over the solar panel, making it possible to steer the panel towards its maximum power point.

== PCBs ==
[[File:2023-07-17 Updated MPPTS WHITEBG.png|thumb|570x570px|Deck layout with corresponding MPPTs ID per panel.]]
There are probably 8 MPPT PCBs in total. Where 4 are used in the current SolarBoat. The picture on the right shows the layout of the solar panels with the corresponding MPPTs.

File:2023-07-17 Updated MPPTS WHITEBG.png

2023-07-17T14:43:17Z

Quintenlb: As of 2023-07-17 update layout of MPPTs

== Summary ==
As of 2023-07-17 update layout of MPPTs

File:2023-07-17 Updated MPPTS BLACKBG.png

2023-07-17T14:39:35Z

Quintenlb: As of 2023-07-17 Updated mppts black background

== Summary ==
As of 2023-07-17 Updated mppts black background

File:MPPT layout on deck.png

2023-07-17T14:36:38Z

Quintenlb: Quintenlb reverted File:MPPT layout on deck.png to an old version