> Actually the issue is not the depth of the sub (I already have depth
sensors
> using pressure on the sub), this issue is providing closed loop control
over
> the amount of water in the ballast tank.

So why do you need to know the amount of water in the tank?  Isn't this
something the servo controls implicitly in an attempt to maintain the
desired depth?

> Anyway if anyone is interested the current configuration can be seen at
> http://freespace.virgin.net/andy.shaw/subcomsep2000.htm

Pretty cool, Andy!  So when will this be fully operational torpedoing those
annoying jet skis?


*****************************************************************
Olin Lathrop, embedded systems consultant in Devens Massachusetts
(978) 772-3129, olin@cognivis.com, http://www.cognivis.com

--
http://www.piclist.com hint: PICList Posts must start with ONE topic:
"[PIC]:","[SX]:","[AVR]:" =uP ONLY! "[EE]:","[OT]:" =Other "[BUY]:","[AD]:" =Ads