Simple speed trap:
Tie a magnet at the end of a length of string.Then you have a simple repeatable way of calculating distance travelled over time while you tweak your formulas.
Place a residential alarm switch inside the tail of the sub.
Apply a metal plate using tape over the switch.
Extend the plate beyond the prop to protect the string.
Monitor the switch from your PIC.
Edit: watertight, with no holes to plug up later either.
Robert


I have set up a way to test pressure vs speed with a tub of water and a motor attached to a shaft that spins in the water and travels a known distance with a stop watch that starts and stops at rev.
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You are a practical genius .


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