实现与上位机的TCP/IP通信，与从控制器的CAN通信，以及对深度计和惯导系统的数据采集和处理。实现对机器的PID控制，根据上位机指令实现各种该动作。-TCP/IP communication with the host computer, communication with the CAN　the controller, as well as data acquisition and processing of depth and inertial navigation system. The realization of the machine PID control, according to the instructions of the host computer to achieve a variety of actions.