DAVID — Winch
Introduction
Lower and retrieve the water-quality measurement unit beneath the surface.
Main Feature / Specs.
| Working Load | 60 kg Lifting/Lowering Verified |
| Sample Capacity | 4 L |
| Cable | Nylon Cable |
| Winding System | Electronic Level Winder · Anti-Overwind Limit Sensor |
| Water Surface Detection | Water Surface Sensor → Real-Time Depth Estimation |
| GCS Control | Target Depth · Lifting/Lowering Speed · Return-to-Home · Stop |
Role: Underwater Deployment and Retrieval of the Water-Quality Measurement Unit
- Control: RPi Pico + AK10-9 (VESC)
- Winding Driver: TMC2208
- Communication: ESP32-C3 + MQTT Telemetry
