Overview

The central command and control subsystem is responsible for bringing all of the code together. This entails the communication of all subsystems and the controlling of these different subsystems. The code that is embedded within command and control consist of two modes. These are the tethered mode and the autonomous mode. In the tethered mode, we have a tether hooked up to the submarine and through a serial connection to hyper terminal we communicate with the sub. This communications consists of receiving and sending data to control the sub, for testing, until it is mission ready. After the testing phase is complete we then move on towards the autonomous mode which has the sub run just as if it was in the competition. In this mode the sub must evaluate its surroundings and process them correctly to complete the course.