This is the firmware for 2025's ROV, Giulietta. It is designed to be used with the ESP32 microcontroller.
| Pin | Function |
|---|---|
| 17 | Horizontal Thruster A Direction |
| 13 | Horizontal Thruster A PWM |
| 15 | Horizontal Thruster B Direction |
| 23 | Horizontal Thruster B PWM |
| 16 | Horizontal Thruster C Direction |
| 4 | Horizontal Thruster C PWM |
| 5 | Horizontal Thruster D Direction |
| 2 | Horizontal Thruster D PWM |
| 33 | Vertical Thruster E PWM A |
| 25 | Vertical Thruster E PWM B |
| 27 | Vertical Thruster F PWM A |
| 14 | Vertical Thruster F PWM B |
| 32 | Vertical Thruster E Enable |
| 26 | Vertical Thruster F Enable |
| 19 | LED |
| 12 | DCV 1 |
| 18 | DCV 2 |