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ROV Control Board

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I am trying to build an ROV. I have searched for several hours on the internet but have not been able to find a controller board that meets my needs. Since I am new to all of this I thought I would look for some help. I need a control board that does the following:

- RS232 interface to connect to controlling computer (allow for long cable length for ROV tether)
- min. 8 analog inputs (to connect sensors sending info back to surface)
- min. 6 digital i/o channels to control relays (turn on/off lights, camera, etc - video feed will be seperate system)
- min. 6 PWM channels (need to control 3 thruster motors in both directions) if the board has built in motor controls it would be preferrred otherwise I'll use 6 seperate motor controlers but they will still need the PWM signals from the controller board.

Any and all advice is appreciated. Thanks!

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