Building a Lego-powered Submarine 5.0 - moving weight for pitch control

Improved radio-controlled submarine, with two new features: 1) a moving weight for changing pitch, and 2) a water pump based ballast system. Lots of minor improvements too. Equipped with an Arduino Nano ESP32, a pressure sensor and a gyro/accelerometer sensor. Tested in a swimming pool and a small river. Enjoy! SPECS Displacement: 2.95 kg Test depth: 1.5 m Hull: acrylic plastic cylinder (250x120x3mm) Round nose: plastic half ball (12 cm diameter) Extra weight: 1.35 kg of tungsten pellets Pump: Kamoer NKP peristaltic pump modified with Lego parts Ballast tank: 50 ml animal IV bag Moving weight: 400g of steel washer plates Propellers: non-Lego 4-blade 55mm diameter PC prop, L/R handed Magnetic coupling: K&J Magnetics D36-N52 neodymium magnet Motors: 3x Lego PF M-motor (8883), 1x Lego PF XL-motor (8882) Motor driver: DRV8833 Radio control: Graupner R700 40MHz receiver, Graupner X-412 40MHz controller Pressure sensor: Honeywell SSCMANV030PA2A3 IMU sensor: MPU-6050 6-Axis Accel/Gyro sensor Computer: Arduino Nano ESP32 Power supply: Lego Rechargeable Battery Box 9V (8878) On-board camera: GoPro 8 C++ CODE, PART LIST, AND OTHER DETAILS https://brickexperimentchannel.wordpress.com/rc-submarine-5-0-blog-post-series/ PREVIOUS SUBS 1.0 syringe ballast https://www.youtube.com/watch?v=tGEZApd9MMk 2.0 magnetic coupling https://www.youtube.com/watch?v=MdfUSNzc0Xk 3.0 balloon and compressor https://www.youtube.com/watch?v=n83cSg3wohU 4.0 automatic depth control https://www.youtube.com/watch?v=KLEH8RJsYgI