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Bow & Stern Thrusters with Heading Hold Logic

This is a Test barge to demonstrate the microcontroller and connected display system for controlling bow and stern thrusters to:

swing bow left / right
swing stern left / right
turn on the spot clockwise / anticlockwise
move the boat left or right while maintaining set heading regardless of weight load distribution

currently 2 system using either:

a single central azimuth thruster bow / stern
4 fluid jet's on either corner of the boat (these also will adjust to control the roll of the boat while thrusting)
a 3rd system using 4 azimuth thrusters is planned.

PLEASE READ: in all systems you will need to input a power setting for the thrusters to use via the provided keypad(s)
for a boat this size i would recommend 0.05 and 0.1

a simple (Blue) forward backwards control for the rear propeller is provided so you can move the boat out of dock if need be