The command and control capabilities of Ram-Boat 8 were significantly upgraded from the previous vehicle design.  Two NetBurner microcontrollers were selected for the task of command and control, one functioning as a high-level mission manager and data logger, the other as the low-level leg controller.  The decision to use NetBurner products was based upon various factors, including processing power, low power consumption, small size, low cost and the excellent Eclipse development environment.  In addition, both microprocessors use the uC/OS real timer operating system (RTOS) which is known for its speed, stability and minimal memory requirements.

The function of the high-level mission manager and data logger is to ensure that the mission is completed satisfactorily and is well documented.  An important lessons learned from previous years was that accurate mission logs are critical to effective post-mission analysis.  The mission manager interfaces with both CMU cameras and the leg controller, receiving and logging mission documentation from each.  All user generated leg tables are stored on the SDRAM card of the mission manager until they are transferred to the leg controller.  The most important function of the mission manager is to provide autonomy to the vehicle.  This is accomplished via several protocols, all embedded within leg table data.  While executing a protocol, the mission manager will use optical or acoustic sensor data to modify leg table parameters on the leg controller.  This allows Ram-Boat 8 to optically find a docking station, track a roadway, determine where to drop a marker and acoustically home in on the treasure.   Operators interact with the mission manager on telnet via an 802.11g wireless bridge eliminating the need for a submersible instrument cable for programming. 

The 5270 is based on the 32-bit Freescale 5270, 147.5MHz processor with integrated Ethernet.  It has many impressive features for its size, including 3 UARTS, four PITs, 2MB of SDRAM and a RJ-45 connector for Ethernet connectivity. Using two microprocessors manufactured by the same company that both used identical development environments allowed for easy integration between high-level and low-level processors.

The function of the leg controller is to execute commands in the form of a linked leg table.  The leg table is a protocol, developed for RAM-Boat 8, which succinctly characterizes all relevant steerage information to the leg controller. One leg of data consists of a leg number, depth value, heading value, speed value, sway value, protocol identifier, time value and a number of the next leg to link to.  While executing a leg, the leg controller will maintain depth, maintain heading, maintain speed and maintain sway values. The leg controller will also execute task specific actions, such as turning on the auxiliary 12V power, dropping markers, releasing the grappling hook and transmitting status messages to the mission manager. 

The NetBurner 5213, based on the 32-bit 66MHz Freescale Coldfire microprocessor, was selected for the leg controller.  It’s features include an 8-channel/12-bit A2D, two Programmable Interrupt Timers (PIT) and four lines of general purpose timers (GPT).  One PIT is used exclusively to time heading control, depth control and logging tasks.  The four lines of general purpose time (GPT) allow for manufacture of servo commands to provide the Ant-100 motor controller.