Our submarine runs off of a set of sealed, lead-acid batteries.

After searching though an array of high end web cameras, we settled on the Logitech Quickcam 4000 for the rather extensive driver support in Linux and picture quality.

Our motors use the above high-power H-bridge coupled with a Pulse Width Modulator (PWM) to control each motor at varying speeds.

Because of our limited budget, we chose to use trolling motors as our sole means of propulsion. The shaft was cut down to a few inches in length and the speed controller was replaced by a PWM chip connected to our PC-104 computer.

Each motor cable connects to the hull via a wet connect plug. Using a set of wet connects, we can maintain a dry cavity inside of our submarine for all of our electronics and batteries.

The processing power of our submarine comes from a PC-104 stack of electronics. The PC-104 computer gets its name from a pci bus of 104 pins that connects each card, giving the user a wide range of customizability.