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‎.gitignore

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_build/

‎Makefile

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# Minimal makefile for Sphinx documentation
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#
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# You can set these variables from the command line.
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SPHINXOPTS =
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SPHINXBUILD = python3 -msphinx
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SPHINXPROJ = RoboticSailingguide
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SOURCEDIR = .
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BUILDDIR = _build
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# Put it first so that "make" without argument is like "make help".
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help:
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@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
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.PHONY: help Makefile
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# Catch-all target: route all unknown targets to Sphinx using the new
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# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
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%: Makefile
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@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

‎boat.rst

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The boat
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========
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A standard sailing boat has four main parts:
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- **Hull**: Base platform, floats in the water.
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Probably also holds most of your electronics.
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- **Sails**: Transfers energy from the wind to the boat.
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Sails are most effective when acting as an airfoil,
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not just a bag catching the wind.
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- **Keel**: Heavy weight underwater, stops the boat falling over.
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- **Rudder**: Sticks into the water, turns to steer the boat.
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If you don't want to build your own boat, a good shortcut is to look for remote
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controlled model sailing boats. Complete boats with servos for the sails and the
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rudder are available for a few hundred euros/dollars/pounds. The *RC laser*
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is one popular model, while the *International One Metre* class is a
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specification that many different models are made to.
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Other things to try
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-------------------
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- *Wing sails* are rigid airfoils rather than a flexible sheet.
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They can be balanced so that changing and holding their position needs little
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force.
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- An *air rudder* steers by deflecting air instead of water. Åland sailing
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robots use this in combination with a free rotating wing sail. (Ref paper)
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- *Multi-hull* designs, like catamarans and trimarans, have two or more hulls
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side-by-side, with a gap between them. This can help make the boat more
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stable.

‎conf.py

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# Robotic Sailing guide documentation build configuration file, created by
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# sphinx-quickstart on Fri Aug 31 22:37:14 2018.
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#
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# This file is execfile()d with the current directory set to its
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# containing dir.
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#
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# Note that not all possible configuration values are present in this
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# autogenerated file.
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#
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# All configuration values have a default; values that are commented out
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# serve to show the default.
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# If extensions (or modules to document with autodoc) are in another directory,
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# add these directories to sys.path here. If the directory is relative to the
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# documentation root, use os.path.abspath to make it absolute, like shown here.
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#
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# import os
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# import sys
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# sys.path.insert(0, os.path.abspath('.'))
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# -- General configuration ------------------------------------------------
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# If your documentation needs a minimal Sphinx version, state it here.
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#
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# needs_sphinx = '1.0'
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# Add any Sphinx extension module names here, as strings. They can be
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# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
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# ones.
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extensions = []
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# Add any paths that contain templates here, relative to this directory.
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templates_path = ['_templates']
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# The suffix(es) of source filenames.
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# You can specify multiple suffix as a list of string:
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#
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# source_suffix = ['.rst', '.md']
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source_suffix = '.rst'
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# The master toctree document.
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master_doc = 'index'
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# General information about the project.
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project = 'Robotic Sailing guide'
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copyright = '2018, Thomas Kluyver'
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author = 'Thomas Kluyver'
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# The version info for the project you're documenting, acts as replacement for
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# |version| and |release|, also used in various other places throughout the
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# built documents.
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#
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# The short X.Y version.
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version = ''
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# The full version, including alpha/beta/rc tags.
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release = ''
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# The language for content autogenerated by Sphinx. Refer to documentation
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# for a list of supported languages.
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#
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# This is also used if you do content translation via gettext catalogs.
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# Usually you set "language" from the command line for these cases.
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language = None
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# List of patterns, relative to source directory, that match files and
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# directories to ignore when looking for source files.
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# This patterns also effect to html_static_path and html_extra_path
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exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
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# The name of the Pygments (syntax highlighting) style to use.
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pygments_style = 'sphinx'
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# If true, `todo` and `todoList` produce output, else they produce nothing.
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todo_include_todos = False
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# -- Options for HTML output ----------------------------------------------
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# The theme to use for HTML and HTML Help pages. See the documentation for
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# a list of builtin themes.
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#
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html_theme = 'alabaster'
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# Theme options are theme-specific and customize the look and feel of a theme
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# further. For a list of options available for each theme, see the
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# documentation.
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#
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# html_theme_options = {}
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# Add any paths that contain custom static files (such as style sheets) here,
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# relative to this directory. They are copied after the builtin static files,
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# so a file named "default.css" will overwrite the builtin "default.css".
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html_static_path = ['_static']
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# -- Options for HTMLHelp output ------------------------------------------
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# Output file base name for HTML help builder.
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htmlhelp_basename = 'RoboticSailingguidedoc'
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# -- Options for LaTeX output ---------------------------------------------
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latex_elements = {
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# The paper size ('letterpaper' or 'a4paper').
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#
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# 'papersize': 'letterpaper',
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# The font size ('10pt', '11pt' or '12pt').
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#
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# 'pointsize': '10pt',
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# Additional stuff for the LaTeX preamble.
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#
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# 'preamble': '',
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# Latex figure (float) alignment
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#
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# 'figure_align': 'htbp',
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}
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# Grouping the document tree into LaTeX files. List of tuples
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# (source start file, target name, title,
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# author, documentclass [howto, manual, or own class]).
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latex_documents = [
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(master_doc, 'RoboticSailingguide.tex', 'Robotic Sailing guide Documentation',
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'Thomas Kluyver', 'manual'),
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]
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# -- Options for manual page output ---------------------------------------
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# One entry per manual page. List of tuples
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# (source start file, name, description, authors, manual section).
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man_pages = [
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(master_doc, 'roboticsailingguide', 'Robotic Sailing guide Documentation',
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[author], 1)
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]
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# -- Options for Texinfo output -------------------------------------------
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# Grouping the document tree into Texinfo files. List of tuples
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# (source start file, target name, title, author,
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# dir menu entry, description, category)
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texinfo_documents = [
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(master_doc, 'RoboticSailingguide', 'Robotic Sailing guide Documentation',
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author, 'RoboticSailingguide', 'One line description of project.',
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'Miscellaneous'),
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]
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‎electronics.rst

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Electronics
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===========
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You'll need a computer, at least two motors, and a handful of sensors.
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Computer
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--------
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Several teams have successfully used a Raspberry Pi as the brains of their
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boats. Microcontrollers such as Arduinos are another option: these make it
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easier to work with low-level hardware interfaces like PWM control for servos,
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but are less flexible for writing high-level control code.
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What sensors you choose may also affect the kind of computer you need.
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Motors
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------
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You'll need to move the sails and the rudder to control the boat.
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For the micro-sailboat class, a typical hobby-grade servomotor can move the
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rudder, but more force is needed for the sails: sail winch servos are available
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for remote-controlled sailing.
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If you have multiple sails or multiple rudders, you may want extra motors
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to control them independently.
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Positioning
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-----------
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GPS - and its cousins generically known as GNSS - are amazing.
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With an inexpensive receiver you can tap into a network of satellites
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and get an accurate position.
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Making sense of the data can take a bit of effort.
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You'll probably get a latitude and longitude in a coordinate system called
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WGS-84 - at this level of accuracy, getting the right reference system
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matters.
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For the small distances involved in WRSC, it's convenient to convert positions
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to coordinates in metres and assume a flat plane. This is what the UTM
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coordinate system does; you'll need to find which of the 60 UTM zones you're
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sailing in to get the calculations right.
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Wind sensors
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------------
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You need to measure the wind direction, and you may also want to know the speed.
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The simple approach is a physical wind vane and some way of measuring its
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position, such as a rotary encoder or a magnetic field sensor.
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Ultrasonic wind sensors measure the direction and speed of the wind with
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no moving parts, by comparing how sound waves move in different directions.
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Wind sensors are typically placed at the top of the mast or near the front of
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the boat, to minimise interference from the sails.
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Orientation sensors
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-------------------
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Sensing which way the boat is pointing is surprisingly tricky.
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The obvious approach is to measure the earth's magnetic field,
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like a handheld compass. But the earth's field is weak, and your electronics
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can interfere with it. If your boat can heel over in the wind, you also need
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to account for the third dimension.
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Combining gyroscopes and magnetic field readings can give more accurate
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estimates of direction. Inexpensive 'IMUs' combining gyroscopes, magnetic field
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sensors and accelerometers are readily available. But combining multiple sources
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of data can also make it harder to understand when things go wrong.
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Other ideas, of varying practicality:
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- Use only a gyroscope, along with knowledge of which way the boat was pointing
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when it was started. Relies on having a gyroscope with low enough drift.
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- Infer the boat's orientation based on its movements tracked by GPS.
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- Have two GPS antennae, one at each end of the boat, and find the difference
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between their positions.
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- Use the position of the sun, along with the local time.
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It may be possible to use polarised light to estimate the sun's position
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through clouds; there are suggestions that 'sunstones' were used to navigate
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this way in mediaeval times.
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- Use computer vision to recognise landmarks, in combination with position
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from GPS.

‎index.rst

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Getting started with robotic sailing
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====================================
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This is an overview of the steps you need to think about to build a small
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autonomous sailing boat, such as you might need to compete in WRSC.
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We've tried to provide pointers both for how to get something basic to work,
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and other approaches you might consider. Depending on the time, knowledge and
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resources you have available, you can pick which areas to innovate in, and where
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to get something basic working.
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There are three main domains you'll need to think about:
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the boat, the electronics, and the control software.
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.. toctree::
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:maxdepth: 2
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:caption: Contents:
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boat
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electronics
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Indices and tables
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==================
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* :ref:`genindex`
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* :ref:`search`

‎make.bat

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@ECHO OFF
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pushd %~dp0
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REM Command file for Sphinx documentation
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if "%SPHINXBUILD%" == "" (
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set SPHINXBUILD=python -msphinx
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)
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set SOURCEDIR=.
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set BUILDDIR=_build
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set SPHINXPROJ=RoboticSailingguide
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if "%1" == "" goto help
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%SPHINXBUILD% >NUL 2>NUL
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if errorlevel 9009 (
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echo.
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echo.The Sphinx module was not found. Make sure you have Sphinx installed,
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echo.then set the SPHINXBUILD environment variable to point to the full
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echo.path of the 'sphinx-build' executable. Alternatively you may add the
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echo.Sphinx directory to PATH.
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echo.
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echo.If you don't have Sphinx installed, grab it from
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echo.http://sphinx-doc.org/
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exit /b 1
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)
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%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
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goto end
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:help
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%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
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:end
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popd

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