An ESP32 powered, radio controlled, tugboat featuring independently controlled azimuth thrusters. Vessel design inspired by - Arihi from Port Otago, New Zealand.
Check out the build video on YouTube for more details and a walkthrough of the design and construction process.
Full info can be found on the SketchyCircuits website project page.
- Dual Azimuth Thrusters: Two independently remote controlled 360° rotating thrusters
- Rotary Encoder Control: Precise angle control (0-359°) for each thruster using rotary encoders
- Real-Time Feedback: Controller OLED display shows propeller states, actual thruster positions at the boat as they rotate and estimated signal quality
- Logical Movement: Stepper motors use shortest-path algorithm to reach target angles efficiently
For parts list and links, see Components.md.
For wiring diagrams and pin assignments, see Wiring.md.
Install these via Arduino Library Manager:
- RF24 (for NRF24L01+ radio)
- AccelStepper (for stepper motor control)
- Adafruit SSD1306 (for OLED display)
- Adafruit GFX Library (dependency for SSD1306)
- Wire (built-in I2C library)
- SPI (built-in SPI library)
Planned improvements:
- Battery voltage monitoring on display
- Ask a question on the discussions tab or leave a comment on the YouTube video.