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Raye is an autonomous sailboat designed to sail from Vancouver to Hawaii.

There are 3 main software systems on the boat:

• global-pathfinding
  • given the boats current gps position, and weather data, produces a list of gps waypoints that the boat must follow>
• local-pathfinding
  • given a list of gps waypoints, the boats current gps position, and AIS data (what other boats are in the area), produces a heading for the boat to follow.
• boat-simulator
  • given a heading, produces the rudder and winch angle to move in that direction

The code in this repository is responsible for:

• Communication between the 3 systems above.
• Providing the software systems with necessary sensor data they need to run.
• Sending the rudder and winch angle to the motors via CANbus.
• Integration testing of all the described systems.

For more details, see the System Architecture Page

Other userful documentation:
https://docs.rockblock.rock7.com/reference
https://docs.rockblock.rock7.com/docs/integration-with-application
https://ubcsailbot.atlassian.net/wiki/spaces/ADA2/pages/506167525/CAN+Bus+Inputs+and+Outputs