An automode provides for autonomous control of a specific parameter A typical VideoRay ROV has 2 or more automodes, heading, depth, etc. Currently only exposes the PRO4 CSR fields

Represents a Camera

Buttons available on the manual camera interface These are used for controlling the on-board menu

Encapsulates the gains which are applied to the mapped controller input prior to setting the thruster parameters

An object which represents a PAM based external thruster POD

Exposes various internal health status indicators for a device

Interface for a thruster object. All thrusters should implement this regardless of their low level implemenation

Represents an Illumination device

Represents a manipulator or simple cutting device

Standard DOF as per Fossen and SNAME are: 1 x (surge) 2 y (sway) 3 z (heave) 4 rot x (roll) 5 rot y (pitch) 6 rot z (yaw)

The Navigation class contains all orientation, velocity, acceleration, and position data available

Represents the unspecialized Protocol Adapter Multiplexer

Parameters for PID controllers

Represents the power manager subsystem on the ROV

EXPERIMENTAL Macros to drive camera menu commands These emulate manual button presses on the camera

Encapsulates an ROV. Specifically a PRO4 ROV.

Various arbitrary standards Used for things like indexing into arrays etc.

Current videoray tooling supports opening or closing.

A thruster provides propulsion A typical VideoRay ROV has 3 thrusters: Port, Starboard, and Vertical Currently only exposes the PRO4 CSR fields