Inherited this project partially completed and running late. It also had a few technical issues regarding Lyxos device drivers.
There were three device drivers needed for this product, all of which were developed in-house. They were all incomplete and lacking in documentation. It took some time to reverse engineer both the device drivers as well as the hardware being controlled in order to finish the drivers.
All software components were satisfactorily rectified however there was one issue the software couldn't rectify. There was a maximum power cycle of 20% for driving the sonar cables. It took a physical demonstration to show the inherent flaw in the hardware and how the software was not physically able to compensate for the issue.