This week I completed the electrical and software part of the sub. Unfortunately, while trying to test all the wiring together one of the motors shorted out and broke. The motor was not powerful enough to turn the shafts on the U-bracket and the universal joint. So, to get the fins to turn more powerful motors will be needed. The new plan moving forward is just to have the sub go straight. The propeller shaft kept slipping off the motor since the threading sheared off, a simple collet was made on solid works and was 3D printed. The Arduino could not be powered by the 12v battery used for the motor so a 9v motor was added. This made it hard to fit everything into the pressure vessel. So, the 9v battery ended up sitting loosely on top of the Arduino. The sub should be completely assembled, and bench tested next week.