Software Integration and Interoperability: Upgrading ROV Jason's Motor Control Propulsion System

This paper presents the integration of ELMO (Elmo Motion Controls) motor controllers into the National Deep Submergence Facility's control system for the ROV Jason. The upgraded topside software maintains compatibility with legacy MTS (MTS Systems Corporation) motor controllers while enhancing thruster performance and monitoring. Key improvements include a motor control driver design without relying on state machine patterns, robust fault detection, and failsafe mechanisms. The system's GUI was enhanced for seamless control of both new and legacy thrusters. Custom electronics were added to monitor controller pod status and environmental parameters. Extensive testing validated the system's functionality under real-world conditions. This upgrade significantly advances ROV technology, enhancing system reliability, monitoring capabilities, and overall performance for deep-sea scientific missions.