As shown in our post about the watertight compartment, we plan to have five major cables (one in each cord grip) run from electronics to inside the compartment – three entering the from the front and two from the back.
The three cables protruding from the front are organized in the following way:
- One has seven wires and will be for the two small thrusters in the front have.
- One has eight wires, two for each of four LEDs.
- And the final cable has eighteen wires that will connect to the camera, servo motor, IMU, depth sensor, and two LIDARs.
The two cables to the back are split so that:
- One has ten wires which will run to both small thrusters and the large thruster in the back half.
- The second has three wires which run out the top of the sub to act as our tether, as in this post.
The last precaution that we took against any leakage was epoxying the ends of the cable. We did this because it is possible for water to enter the cables and work its way into the watertight compartment inside the casing as it can bypass the cord grips.
|Cable with Epoxy|
then used a zip-tie to keep the epoxy tightly packed in the top 1/4" of the cable.
Below we have two pictures of the sub. One before wiring the loom and one of after wiring the loom.
|Before Wiring the Loom|
|After Wiring the Loom|