Submarine by Harbor Branch Oceanographic Information and Data was submitted to Parallax by Dan Boggess of Harbor Branch Oceanographic:  Harbor Branch Oceanographic Institute's Ships and Subs project uses six BASIC Stamp® microcontrollers for thruster control, camera tilt, pan and zoom, and light control in their submarine.  Show above is out BASIC Stamp 2 motor controller node modules. These modules are RS-485 networked H-Bridge drivers for our nine, independently controlled, 1.5 hp thrusters. The 9 thruster nodes & the Master make up the the propulsion network on the sub. This network will eventually be a sub-network tied to a submersible positioning system. Submersible speed, water current, height over bottom, GPS position and heading information will be integrated by a PC-104 based computer which will send commands to the thruster sub-net for precise, automatic, positioning of the sub. Pan/Tilt/Light Box Attached to the side of our new Pan & Tilt unit is the power control box. Another RS-485 network, the BASIC Stamp module in this box controls the power loads for four 150 watt halogen video lights, two scaling lasers, and two 8A DC auxiliary power outputs. Additionally, the speed & direction of the Pan & Tilt motors is controlled. For more information, check out their web site at: http://www.at-sea.org/