The ESC boards were integrated with the rest of the ROV yesterday. I had originally intended to mount two of the ESC boards onto a piece of acrylic to keep them separate from the batteries which share the same waterproof compartment. Unfortunately this proved too difficult to fit into the enclosure. Instead, I've wrapped each fully populated ESC board in shrink-wrap which allows their placement in the enclosure to be a little more "free form".

The shrink-wrap simply keeps all the electronics safe.

Because the ESCs are now split between two PWM controllers (the old ESC control system used one) the pilot code was changed to configure a specific PWM source for each thruster. Also the thrusters are now controlled using Afro Opto 12A ESCs (reprogrammed using the OpenROV SimonK code) rather than the original HobbyKing branded controllers. These ESCs appear to be less fussy about what voltages they'll operate with.

The final result is the power tube is now stuffed with batteries, with 6 ESCs at each end. On dry land everything is working - now back go the pool.