Wave Energy Converter (WEC) Prototype Control System

1. Project Overview

Control system for testing wave energy converter (WEC) prototypes using a Raspberry Pi touchscreen UI and Arduino motor control.
The system allows real-time interaction with prototypes, including selecting WEC type, adjusting frequency/amplitude, and running tests.

2. Components / Hardware

• Raspberry Pi – Runs the touchscreen UI
• Arduino Mega – Controls the motor
• VESC & VESC Express – Motor controller and Data Logger
• WEC prototypes – Point Absorber and Oscillating Flap types
• Touchscreen – User interface for control

3. Software

• Python – Raspberry Pi GUI and control code (wec_rpi_gui.py)
• MATLAB – Hydrodynamic analyses (PA_buoyancy.m)
• Arduino – Motor control code (wec_arduino_motorcontrol.ino)
• VESC logging script (log_can.lisp) – Captures motor data points

4. Folder Structure

WEC-Prototype/
├── Arduino_Mega/
│ └── wec_arduino_motorcontrol.ino # Arduino firmware controlling motor based on RPi commands
├── CAD/
│ └── Multiple CAD pdf files
├── Raspberry_Pi/
│ └── wec_rpi_gui.py # Python UI for controlling WEC tests
└── VESC/
└── log_can.lisp # Logs motor data points during testing
├── hydrodynamics/
  └── PA_buoyancy.m # Evaluates the hydrodynamic repsonse of the PA
├── gear_ratio_appendix/
  └── Files required to simulate both the PA and OSWEC to estimate required GR

5. Code Setup Instructions

1. Raspberry Pi

   • Copy wec_rpi_gui.py to the Pi.
   • Configure the script to run automatically using cron.
   • Connect Raspberry Pi to Arduino via USB.

2. Arduino Mega

   • Flash wec_arduino_motorcontrol.ino onto the Arduino.
   • Ensure the VESC UART library is downloaded from GitHub and stored in Arduino’s libraries folder.

3. VESC / VESC Express

   • Flash firmware and edit log_can.lisp to VESC and VESC Express.

4. Dependencies & Hardware Connections

   • Proper USB connection between Pi and Arduino.
   • Ensure VESC and motor connections are secure before powering the system.

6. Usage Instructions

1. Power on Raspberry Pi and Arduino.
2. Start the Python UI (wec_rpi_gui.py) via touchscreen or cron.
3. Select the WEC type (Point Absorber or Oscillating Flap).
4. Verify that all electrical connections are secure.
5. Run tests by selecting frequency/amplitude options in the UI.
6. Data from the VESC can be logged using log_can.lisp.