HallPCB

Triton Float

Development repository for the 2026 Triton Robotics Float.

Overview

The Triton Float is being developed for the 2026 MATE ROV Pioneer competition (Newfoundland). This design iteration is approximately 33% smaller than last year's model, while targeting more than 2× performance improvements in speed and significantly increased precision through layered redundancy and sensor feedback systems. It also includes a dedicated LoRa radio as opposed to last year's 4cm wire antenna, which will increase the reliability and robustness of the system.

Features

Dimensions: 200mm x 4 in diameter. Buoyancy system: PWM pump ranging from 220mL/min to -220mL/min.

Accuracy Strategy:

• Internal pressure sensor for ballast state verification
• Pump movement feedback sensor for closed-loop control
• Pre-calibrated pump flow rate modeling for predictive adjustment
• Additional onboard MCU sensors for reproducible control accuracy

Hardware / Electrical

• Microcontroller: XIAO nRF52840 Sense

• Sensors:

  • XIAO nRF52840 Sense onboard IMU & sensors
  • Blue Robotics Bar02
  • Internal pressure sensor
  • Pump movement sensor

• Power System:
  Custom voltage regulation system controlled via relay and magnetic hall-effect sensor on a secondary accessory PCB

• PCB Revisions:
  R2 completed, R3 in development

Mechanical Design

Fusion / CAD link: 🔗 View Fusion 360 CAD

Notes:

Structural Considerations:

Cylindrical housing designed to fit within a 4 in diameter constraint

Internal layout arranged to allow operation in the case of flooding (up to ~50-75% of internal volume) while maintaining core electronic functionality.

PCB mounted using tight-tolerance standoffs to prevent movement under vibration and ease serviceability

Layer system used to keep the float intact when the top flange and shell is removed.

Integration Notes:

Limited internal volume required careful routing of wiring and tubing

Added solderable vias for power, in order to have a secure connection to the battery.

Accessory PCB used to isolate power regulation from main control logic

R3 revision addresses footprint issues and uses a different simpler power system for a working prototype.

Current Status

• Version / Revision: R2
• In progress: R3, with fixed tracing and the internal pressure sensor.
• Completed: R2.
• Next steps: Testing R3 when it comes in.

Tools

• PCB software: KiCad
• CAD software: Fusion 360
• Firmware tools: C++

Images