Adding Hull Panels to the Optimist Pram

Adding the hull side panels was pretty straight forward. We hand-planed the chine logs so that they would be level along the bottom of the boat. We used 3/4" stainless steel woods crews from Jamestown Distributors. I set the width for the screw holes by spreading my index and pinky fingers wide apart and making that distance on the chine and stringer attachment points. We used about 50 wood screws per side panel. Liberal amounts of PL Construction Adhesive were applied along the chine and stringers and things went well.

A video of the experience:

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Wood and fiberglass hull like yellow boat

Based on yellow boat plans different deck 390 Grams as shown 
Also Ply fiberglass epoxy catamaran build log

Yellow boat 3 http://kiwitricopter.blogspot.co.nz/2012/12/yellow-boat-3-power-test-scratch-built.html

Fit out http://kiwitricopter.blogspot.co.nz/2013/12/mad-man-yellow-boat-2-x-turnigy-heli.html

Sea run a Purau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-fpv-camera-view-purau-new.html

Another run at Motunau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-motunau.html

Evo 2 http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-revised-powertrain.html

Glass and epoxy inside balsa ply, will epoxy the outside too. Its very strong with builders fiberglass tape and epoxy 

The motors will be mounted further forward on a cooled plate 

Spray rails are bamboo barbecue skewers and wood filler  

Will be powered with 2 of the following

P2632 Brushless Outrunner 3800kv

The Arduino code will be the same as I ran in the Catamaran I may add differential thrust with steering angle as its a twin

#include  

int ch1 = 4;

int ch2 = 5;

unsigned long ch1v;

unsigned long ch2v;

unsigned long RightLeft = 0;

unsigned long UpDown = 0;

long Trim = 0;

long Throttle = 0;

long Cooling = 0;

long PumpSpeed = 0;

Servo Servo1;

Servo Servo2;

Servo Servo3;

Servo Servo4;

#define MAX_CHAN 8

int AnIn[MAX_CHAN] = {0, };

unsigned long PPMtout = 20000;

char buf[300] = {0, };

long mS = 0;

 void setup() {

   

  

  Serial.begin(115200);

  

  pinMode(ch1, INPUT);

  pinMode(ch2, INPUT);

  

  Servo1.attach(8);

  Servo2.attach(9);

  Servo3.attach(10);

  Servo4.attach(11);

  

}

void loop() {

  

  AnIn[0] = analogRead(A0);

  AnIn[1] = analogRead(A1);

  AnIn[2] = analogRead(A2);

  AnIn[3] = analogRead(A3);

  AnIn[4] = analogRead(A4);

  AnIn[5] = analogRead(A5);

  AnIn[6] = analogRead(A6);

  AnIn[7] = analogRead(A7);

  

  /* RAZU-2 Six turn

  This device has a gain of 55mV per amp giving a 36 Amp working range, 

  and a resolution of 11.3777 mA per bit with the maximum output at 5 volts 

  which is 1024 bits in the Arduino. By the way I should point out that 

  these devices on a 5 volt rail will sit around 2.5 volts with no current 

  flowing, so at a 2 Volt delta the out put should be around 4.5 V

   */

   

  mS = micros();

  

  //Get PPM from each RX channel  

  noInterrupts();

    

    

    

    

    

  ch1v = pulseIn(ch1, HIGH, PPMtout);//Throttle

  

  if(ch1v > 0)

  {

    ch2v = pulseIn(ch2, HIGH, PPMtout);//Imax

  } 

  else//Fail safe

  {

    ch1v = 1000;

    ch2v = 1000;    

  }

    

  interrupts();

  

  //ALLOW INTERRUPTS BEFORE UPDATE SERVOS

  delayMicroseconds(2000);

  

  

  //Calculate motor amps

  long Motor_mA = ((long)(AnIn[1] - 512) * 11.0f);

  

  

  

  int Tmax = (int)ch2v;

  

  //Set max throttle

  Throttle = (long)map((int)ch1v, 1000, 2000, 1400, Tmax); 

    

    

  //Calc amps

  long Amps = (long)map((int)Motor_mA, 0, 36000, 0, 36); 

    

    

    

  //Calculate cooling temp RTC on AnIn[0]

  int cerr = ((int)600 - (int)AnIn[0]); 

    

  //Integrate temparature

  Cooling += cerr;

   

  if(Cooling < 1000) Cooling = 1000;

  else if(Cooling > 2000) Cooling = 2000;

    

  //Use the temperature integrator plus the motor current 

  //36 Amps gives us 360 bits

  PumpSpeed = (long)Cooling + (Amps * 10);

  

  

  

  

  

  

  

  //Update the outputs

   

  Servo1.writeMicroseconds((int)Throttle);

     

  Servo2.writeMicroseconds((int)PumpSpeed);

  

  

  

  long Cyc_mS = (micros() - mS);

  

  //ALLOW SERVOS TO UPDATE BEFORE INTERRUPTS OFF

  delayMicroseconds(18000 - Cyc_mS); 

  

  Cyc_mS = (micros() - mS);

  

  sprintf(buf, "ch1v_Tmax:%d,ch2v_Imax:%d,Throttle:%d,AnIn[0]:%d,AnIn[1]:%d,CoolingError:%d,Cooling:%d,Imax:%d,MotorAmps:%d,Cyc_mS:%d", (int)ch1v, (int)ch2v, (int)Throttle, AnIn[0], AnIn[1], cerr, (int)Cooling, (int)Tmax, (int)Amps, (int)Cyc_mS );

    

  Serial.println(buf);

  

  

  /*

  char incomingByte = 0;

  

   // send data only when you receive data:

  while (Serial3.available() > 0) {

    // read the incoming byte:

    incomingByte = Serial3.read();

    

    Serial.print((char)incomingByte);

    

    delayMicroseconds(1000);

    

    if(incomingByte == 13) break;

  }

  

  Serial.println( );

  */

    

}

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