DIY Submersible ROV

 (/) Circuits (/circuits /) Works hop (/works hop/) Craft (/craft/) Cooking (/cooking/)
DIY Submersible ROV by dcolemans (/member/dcolemans/) Follow Living (/living/) Outs ide (/outs ide/) Teachers (/teachers /)
Download
Log In w
(/account/login/)
|
Sign Up (/account/register/)
Favorite
I Made It

instructables (/circuits/) Projects (/circuits/projects/) Contests (/contest/) Let's Make...

circuits 
DIY Submersible ROV

By dcolemans (/member/dcolemans/)
in Circuits (/circuits/) > Remote Control (/circuits/remote-control/projects/) 38.384 220 75 Featured
Download Favorite
Testing the ROV in pool 20180521 165238
Watch on
ROV view of pool test PICT0010 shorter

DIY Submersible ROV by dcolemans (/member/dcolemans/) Follow Download
Favorite
w I Made It

Watch on
auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=4306548beac5f06f1b738b7466c87da7)
(https://content instructables com/ORIG/FK9/WUZP/JHIA1W8O/FK9WUZPJHIA1W8O jpg? auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=d867096904bfce9105ba1fd38f0d873e)
(https://content instructables com/ORIG/FWT/N3ID/JHIA1W8P/FWTN3IDJHIA1W8P jpg?
(/member/dcolemans/)
More by
By dcolemans the author:
DIY Submersible ROV by dcolemans (/member/dcolemans/) Follow
(/member/dcolemans/) (/member/dcolemans/)
Download
Favorite
w I Made It

Follow
How hard could it be? It turns out that there were several challenges to making a submersible
ROV. But it was a fun project and I think it was quite successful. My goal was to have it not cost a
fortune, have it easy to drive, and to have a camera to show what it sees underwater. I didn't
like the idea of having a wire dangling from the driver's controls, and I have a variety of radio
control transmitters already, so that's the direction I went, with the transmitter and control box
separate. On the 6 channel transmitter I used, the right stick is used for forward/back and
left/right. The left stick is Up/Down and turn Clockwise/CCW. This is the same setup used on
quad-copters, etc.
I looked online and saw some pricey ROVs and saw a few with "vectored thrusters". This means
the side thrusters are mounted at 45 degree angles and combine their forces to move the ROV
in any direction. I had built a mecanum wheel rover already and I thought the math there would
apply. (Ref. Driving Mecanum Wheels Omnidirectional Robots
(https://www.roboteq.com/index.php/component/easyblog/entry/driving-mecanum-wheels-
omnidirectional-robots?Itemid=1208)). Separate thrusters are used for diving and surfacing.
And "vectored thrusters" sounds cool.
For ease of driving it, I wanted depth hold and heading hold. This way the driver doesn't have to
move the left stick at all except for diving/surfacing or turning to a new heading. Turns out this
was also a bit of a challenge.
This Instructable is not intended as a set of directions for doing it yourself. The intent is more to
provide a resource that someone might draw from if they intend to build their own submersible
ROV.
 Add Tip V Ask Question | Comment Download
Step 1: The Frame

Favorite
w I Made It

auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=9eb7ecf8da3039b87737edcf0dc95ba8)
(https://content instructables com/ORIG/FRI/0ARB/JHIA4KHD/FRI0ARBJHIA4KHD jpg?
This was an easy choice. Looking to see what other folks had done pushed me in the direction of
1/2 inch PVC pipe. It's cheap and easy to work with. I came up with an overall design that would
accommodate the side thrusters and the up/down thrusters. Soon after assembly I sprayed it
yellow.Follow
Oh yeah, now it's a submarine! I drilled holes in the tubing top and bottom to allow it to
DIY Submersible ROV by dcolemans (/member/dcolemans/) Download
Favorite
w I Made It

flood. For attaching stuff I tapped threads into the PVC and used 4 40 stainless screws. I used a
lot of them.
Shown at a later stage are skids that are held away from the bottom by 3d printed risers. The
risers were needed to make it so the battery could be removed and replaced. I 3d printed a tray
to hold the battery. The battery is secured in the tray by a velcro strap. The Dry Tube is also held
onto the frame with velcro straps.
Step 2: The Dry Tube
auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=d221035d27f1b039238ac8f78e7e6f80)
(https://content instructables com/ORIG/FWZ/D2QJ/JHIA1W7N/FWZD2QJJHIA1W7N jpg?
Favorite
w I Made It


Favorite
w I Made It

auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=3d4e74ab5b198661a119af1290694f2a)
(https://content instructables com/ORIG/FAP/H20L/JHIA1W8I/FAPH20LJHIA1W8I jpg? auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=54c4a8b5c5051d353089187028ecc17a)
(https://content instructables com/ORIG/FN9/MGJH/JHIA4LIQ/FN9MGJHJHIA4LIQ jpg?
First pic is the buoyancy test. Second pic attempts to show how thruster wires are led into
Favorite
w I Made It

potted bullet connectors. Third pic is more of the same plus the additional bump for potting
depth meter and its wires. Fourth pic shows pulling apart the dry tube.
Buoyancy
The Dry Tube contains the electronics and provides most of the positive buoyancy. The ideal is a
small amount of positive buoyancy, so if things go wrong the ROV will eventually float to the
surface. This took a bit of trial and error. The assembly shown here during a float test took
several pounds of force to get it to submerge. This led to any easy decision to mount the battery
on-board (as opposed to power coming over the tether). It also led to cutting the tube down in
length. It turns out a 4 inch tube provides about 1/4 pound of buoyancy per inch of length (I did
the math once but this is a guess). I also ended up putting PVC "skids" on the bottom. They have
screw on ends where I put in lead shot for fine tuning the buoyancy.
Water Tight Seal
Once I settled on using epoxy to seal seams and holes, and settled on using neoprene hub-less
connectors, the ROV was reliably watertight. I struggled for awhile with "waterproof" ethernet
connectors, but in the end I gave up on these and just drilled a small hole, led the wire in, and
"potted" the hole with epoxy. After the hub-less connectors were tightened in place, trying to
remove them was difficult. I discovered that a little smear of white grease made the Dry Tube
pull apart and push together a lot easier.
To mount the acrylic dome I carved a hole in a 4" ABS cap leaving a ledge to receive the edge of
the dome. Initially I tried hot glue, but that leaked immediately and I went to epoxy.
Inside
All the inside electronics are mounted on a 1/16 inch aluminum sheet (with standoffs). It's just
under 4 inches wide and extends the length of the tube. Yeah, I know it conducts electricity, but
it also conducts heat.
Wires Coming Through

The rear
DIY Submersible ROV by dcolemans (/member/dcolemans/) 4"
Follow
ABS cap got a 2 inch hole drilled into it and a 2" ABS female adapter glued in. A 2" Download
Favorite
w I Made It

plug got a hole drilled in for the Ethernet wire to come through and be potted. A little piece of
3" ABS glued on also made a little circle area for "potting".
I drilled what seemed like plenty of holes (2 for each thruster), but I wish I had done more. Each
hole got a female bullet connector shoved into it (while hot from the soldering iron). The
thruster wires and battery leads got the male bullet connectors soldered on.
I ended up adding a little ABS bump to give me a place for the depth gauge wire to come
through and be potted. It got messier than I would have liked and I tried to organize the wires
with a little holder with slots in it.
Step 3: DIY Thrusters

Favorite
w I Made It

auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=1c60f5f201539680930a7929637fd625)
(https://content instructables com/ORIG/F8S/FPN5/JHIA1W9G/F8SFPN5JHIA1W9G jpg?
I got a lot of ideas from the web and decided to go with bilge pump cartridges. They're
relatively cheap (about $20+) each and have about the right amount of torque and speed. I
used two 500 Gallons/hour cartridges for the up/down thrusters and four 1000 GPH cartridges
for the side thrusters. These were Johnson Pump Cartridges and I got them via Amazon.
I 3d printed the thruster housings using a design from Thingaverse, ROV Bilge Pump Thruster
Mount (https://makerware.thingiverse.com/thing:601446). I also 3d printed the propellers,
again with a design from Thingaverse, ROV Bilge Pump Thruster Propeller
(https://makerware.thingiverse.com/thing:639236). They took a little adapting but worked
pretty well.

Favorite
w I Made It

Step 4: Tether
auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=c1800c7adb63f57834435bfdd522abe0)
(https://content instructables com/ORIG/FQP/BYBL/JHKU4RLZ/FQPBYBLJHKU4RLZ jpg? (https://content
auto=webp&frame=1&fit=bounds&md=26a618e000df28e149b8c57110e24260)
instructables com/ORIG/FJA/A7JS/JHKU4SU5/FJAA7JSJHKU4SU5 jpg?
I used a 50 foot length of Cat 6 Ethernet cable. I pushed it into 50 feet of polypropylene rope. I
used the end of a ball point pen taped onto the cable and took about an hour pushing it
through the rope. Tedious, but it worked. The rope provides protection, strength for pulling and
some positive buoyancy. The combination still sinks but not as badly as the Ethernet cable by
itself.
Three of the four cable pairs are used.
● Camera Video signal and ground ----> Arduino OSD shield in the control box
● ArduinoMega PPM signal and ground <---- RC receiver in the control box
● ArduinoMega Telemetry signal --> RS485 ----> matching RS485 --> Arduino Uno in the control
box
Based on comments from another Instructables contributor, I realized that having the tether
dragging on a lake bottom would not be good. In the swimming pool test it was not a problem.
So I 3d printed a bunch of clip-on floats, using PLA and thicker walls than usual. Picture above
showsFollow
DIY Submersible ROV by dcolemans (/member/dcolemans/) the floats deployed on the tether, grouped more closely close to the ROV but averaging Download
Favorite
w I Made It

about 18 inches apart. Again per the other contributor's comments, I put floats into a mesh bag
tied to the tether bundle to see if I had enough.
Step 5: On Board Electronics

Favorite
w I Made It

auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=e79d2f05cfde616d18e4e84ddaead957)
(https://content instructables com/ORIG/FSZ/0XB0/JHIA4KLU/FSZ0XB0JHIA4KLU jpg? auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=5ff9eef1c24da07d6163ae6de84efbb0)
(https://content instructables com/ORIG/FNG/45GM/JHIA4KMN/FNG45GMJHIA4KMN jpg? auto=webp&fra
(http
First pic shows camera and compass. Second pic shows what happens when you keep adding
stuff. Third pic shows underside-mounted motor controllers with aluminum slabs as alternative
heat sinks.
Dry
● Camera – Micro 120 Degree 600TVL FPV cam

●
DIY Submersible ROV by dcolemans (/member/dcolemans/) Mounted
Follow on 3d printed holder that extends it out into the dome Download
Favorite
w I Made It

● Tilt Compensated Compass – CMPS12

● Built-in Gyro and Accelerometer readings automatically integrated with Magnetometer
readings to compass reading stays correct as ROV bops around
● Compass also provides temperature reading
● Motor Drivers – Ebay – BTS7960B x 5
● Large Heat sinks had to be removed to save space

● Mounted w heat transfer grease onto ¼” aluminum slabs
● Aluminum slabs mounted directly on both sides of aluminum electronics shelf
● Experience shows drivers operate well under capacity so heat is not a problem
● Arduino Mega
● RS485 Module to beef up serial telemetry signal
● Current sensor Power module
● Provides up to 3A of 5v power for electronics
● Measures Amperage up to 90A going to 12v motor drivers
● Measures battery voltage
● Relay (5v) to operate 12v lights
Wet
● Pressure (depth) Sensor Module – Amazon – MS5540-CM

● Also provides water temperature reading
● 10 Amp/Hr 12 volt AGM battery
I had concerns that a lot of electrical contacts were exposed to water. I learned that in fresh
water, there is not enough conductivity to cause a problem (short circuits etc.), that the current
takes the "path of least resistance" (literally). I'm not sure how all this would fare in seawater.
Wiring Outline (see SubDoc.txt)

Download (https://content.instructables.com/ORIG/FYX/P5VI/JT91OI99/FYXP5VIJT91OI99.txt)
DIY Submersible ROV by dcolemans (/member/dcolemans/) SubDoc.txt (https://content.instructables.com/ORIG/FYX/P5VI/JT91OI99/FYXP5VIJT91OI99.txt)
Follow Download
Favorite
w I Made It

Step 6: SubRun Software
ROV Depth Hold Test 20180508 103513
Watch on
ROV Test of Heading Hold 20180520 112622

Favorite
w I Made It

Watch on
The first video shows Depth Hold working pretty well.
The second video is a test of the Heading Hold feature.
Pseudocode
The Arduino Mega runs a sketch that performs the following logic:
1. Gets PPM RC signal over tether
2. Pin Change Interrupt on data calculates individual channel PWM values and keeps them
updated
3. Uses Median filter to avoid noise values
4. PWM Values assigned to Left/Right, Fwd/Back, Up/Down, CW/CCW and other ctls.
5. Gets water depth
6. Logic to allow CW or CCW twist to finish
7. Looks at driver controls
8. Uses Fwd/Back and Left/Right to calc strength and angle (vector) for driving side
thrusters.
9. Checks for Arm/Disarm
10. Uses CW/CCW to calc twist component or
11. Follow
DIY Submersible ROV by dcolemans (/member/dcolemans/) Reads compass to see if heading error and calculates corrective twist component Download
Favorite
w I Made It

12. Uses strength, angle and twist factors to calc power and direction for each of four
thrusters
13. Uses Up/Down to run Up/Down thrusters (two thrusters on one controller) or
14. Reads depth meter to see if depth error and runs Up/Down thrusters to correct
15. Reads power data
16. Reads temperature data from depth meter (water temp) and compass (internal temp)
17. Periodically sends telemetry data up Serial1
18. Depth, Heading, Water Temp, Dry Tube Temp, Battery Voltage, Amps, Arm Status, Lights
status, Heartbeat
19. Looks at Light Control PWM signal and turns light On/Off via relay.
Vectored Thrusters
The magic for controlling the side thrusters is in steps 4.1, 4.3 and 4.5 above. To pursue this, look
in the code at the Arduino tab titled runThrusters functions getTransVectors() and
runVectThrusters(). Clever math was copied from various sources, primarily those dealing with
mecanum wheel rovers.
SubRun.inoDownload
(https://content.instructables.com/ORIG/F4J/QTY1/JHKTRMOF/F4JQTY1JHKTRMOF.ino)
(https://content.instructables.com/ORIG/F4J/QTY1/JHKTRMOF/F4JQTY1JHKTRMOF.ino)
runThrusters.ino
Download (https://content.instructables.com/ORIG/FDA/YWQC/JHKTRMOS/FDAYWQCJHKTRMOS.ino)
getPPM.inoDownload
(https://content.instructables.com/ORIG/FEZ/PM2V/JHKTRMP9/FEZPM2VJHKTRMP9.ino)
(https://content.instructables.com/ORIG/FEZ/PM2V/JHKTRMP9/FEZPM2VJHKTRMP9.ino)
depthSensor.ino (https://content.instructables.com/ORIG/FQ1/JMPD/JHKTRMQL/FQ1JMPDJHKTRMQL.ino)
Download (https://content.instructables.com/ORIG/FQ1/JMPD/JHKTRMQL/FQ1JMPDJHKTRMQL.ino)
autoHold.ino (https://content.instructables.com/ORIG/FWU/QEGM/JHKTRMR0/FWUQEGMJHKTRMR0.ino)
Download (https://content.instructables.com/ORIG/FWU/QEGM/JHKTRMR0/FWUQEGMJHKTRMR0.ino)
Step 7: Floating Control Station (updated)

Favorite
w I Made It


Favorite
w I Made It

auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=d52e359f155bc82ffdcda611eb09d0c1)
(https://content instructables com/ORIG/FDB/APOP/JK2UI17Q/FDBAPOPJK2UI17Q jpg?
Favorite
w I Made It

auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=42fc0aa48cb9c6e9a4c96bc1b8c278ae)
(https://content instructables com/ORIG/FJ1/L6R7/JK2UI1BR/FJ1L6R7JK2UI1BR jpg?
6 Channel RC transmitter
Control Box
The original control box (old cigar box) that held electronics not on the sub has been replaced
by a floating control station.
Floating Control Station
I began to be concerned that my fifty foot tether was not long enough to get anywhere. If I'm
standing on a dock, then much of the tether will be taken just getting out into the lake and
there won't be any left for diving. Since I had a radio link to the control box already, I got the
notion of a floating waterproof control box.
So I did away with the old cigar box and put the control box electronics onto a narrow piece of
plywood. The plywood slips into the 3 inch mouth of a plastic three gallon jug. The TV screen
from the control box had to be replaced with a video transmitter. And the RC transmitter (the
only part still on shore) now has a tablet with video receiver mounted on top. The tablet can
optionally record the video it displays.
The lid of the jug has the power switch and voltmeter, tether attachment, RC whisker antennas,
and rubber ducky video transmitter antenna on it. When the ROV pulls out into the lake I didn't
want it to tip the control jug too far so I installed a ring near the bottom where the tether is led
and where a retrieval line will be attached. I also put about 2 inches of concrete at the bottom
of the jug as ballast so it floats upright.
The floating control station contains to following electronics:

● RC Receiver
DIY Submersible ROV by dcolemans (/member/dcolemans/) Follow – with PPM Output Download
Favorite
w I Made It

● Arduino Uno
● OSD Shield - Amazon
● RS485 Module to beef up serial telemetry signal
● Video Transmitter
● Volt meter to monitor 3s Lipo Battery health
● 2200 mah 3s Lipo Battery
On Screen Display (OSD)
In the quad-copter world, telemetry data is added to the FPV (First Person Video) display at the
drone end. I didn't want to put any more stuff into the already crowded and messy Dry Tube. So
I opted to send the telemetry up to the base station separately from the video and put the info
on the screen there. An OSD Shield from Amazon was perfect for this. It has a video in, video
out, and an Arduino library (MAX7456.h) that hides any mess.
SubBase Software
The following logic is run in a sketch on an Arduino Uno in the control station:
1. Reads pre-formatted serial telemetry message

2. Writes message to On Screen Display shield
SubBase.ino (https://content.instructables.com/ORIG/FSN/YLDB/JHKTRMWM/FSNYLDBJHKTRMWM.ino)
Download (https://content.instructables.com/ORIG/FSN/YLDB/JHKTRMWM/FSNYLDBJHKTRMWM.ino)
Step 8: Future Stuff

I did add a mini DVR module to the control box to sit between the OSD (On Screen Display) and
the little TV to record the video. But with the change to the Floating Control Station I now rely
on the tablet app to record video.
I may, Follow
DIY Submersible ROV by dcolemans (/member/dcolemans/) if I get real ambitious, try to add a grabber arm. There are unused radio control channels Download
Favorite
w I Made It

and an unused cable pair in the tether just looking for work.
Second Prize in the
Make it Move Contest View Contest

(/contest/makeitmove2018/)
1 Person Made This Project!
dcolemans (/member/dcolemans/) made it!
Did you make this project? Share it with us!
I Made It!
Recommendations
Favorite
w I Made It

(/Remote-Control-Light-Switch-1/) (/How-to-Make-a-WiFi-Security-Camera-ESP32-
CAM-DIY-R/)
Remote Control Light Switch (/Remote-
Control-Light-Switch-1/)
by alanmerritt How to Make a WiFi Security Camera
(/member/alanmerritt/)
in Arduino (ESP32-CAM) DIY Wireless CCTV
Camera (/How-to-Make-a-WiFi-Security-

75
8
9.6K

248
8
14K
(/contest/knitcrochet22/) (/contest/SDnewyear/)
 Add Tip
V Ask Question
| Post Comment
We have a be nice policy.

Please be positive and constructive.
Add Images Post

75 Comments Download
Favorite
w I Made It

(/member/Ranuga/) Ranuga (/member/Ranuga/) Question

3 months ago Answer / Upvote
Very interesting project!
(/member/aimoredune/) aimoredune (/member/aimoredune/) 8 months ago Reply / Upvote

Very interesting work. Congrats. What kind of motor do you use? Must be a watrproof, sealed against
water in the axis. Where can I buy such motor? Thx!
2
replies
F
(/member/orithon1/) orithon1 (/member/orithon1/) Tip

9 months ago Reply / Upvote
I managed to get through the code and electronics to a point where I can start building the mechanicals.
You do have to have the compass and depth gauge connected (unless you change the code) to operate
the motors with the joystick.
Attached is a picture of the electrical and electronics
(https://content.instructables.com/ORIG/F8K/F1SN/KMOVXEX9/F8KF1SNKMOVXEX9.jpg?
auto=webp&fit=bounds&frame=1&height=1024&width=1024)
(/member/orithon1/) orithon1 (/member/orithon1/) 10 months ago Reply / Upvote

Still trying to make progress with the code. code compiles, loads but does not run.
I am trying to get the motors running before adding the other pieces which may be the problem. Would
appreciate some general help-Thanks
Seems to stop at runByRC call on the main sketch.

4
replies
F
(/member/orithon1/) orithon1 (/member/orithon1/) Question
10 months ago Answer / Upvote Download
Favorite
w I Made It

I am having problems with the Library calls for the sketch. Mostly because not having the correct zip or .h
script. Could anyone having success getting the sketch compiled post links to the library files???
especially the Pressure sensor Thank you
Success!!! I did not have all of the ino files in the folder for the sketch for the submarine
(F4QTY1JKTRMOF) Compiles and now I am ready for the build!
(/member/Dive-N-Aerial/) Dive-N-Aerial (/member/Dive-N-Aerial/) Question

1 year ago
on Step 8
Answer / Upvote
What distance are you able to be away from the floating control station and still receive a low latency feed?
1
answer
F
(/member/N1CO/) N1CO (/member/N1CO/) 1 year ago Reply / Upvote

Hello, I wanted to know how you used your pressure sensor ? Because the only waterproof part is the
white one, right ?
Thanks for your reply.
Best Regards,
1
reply
F
(/member/Gissel15/) Gissel15 (/member/Gissel15/) Question

1 year ago Answer / Upvote
Hi
I am very excited about your project, that I would like to make.
But I am somewhat inexperienced in coding and the electronic part of the project, so as not to get too
steep a learning curve and maybe save some money, I would like to start by doing it with direct control
from a "cigar box" as I can read that you also started with.
Do you have any good tips or links on your old control box ?
With best regards
Per
Denmark
4
answers
F
Favorite
w I Made It

More Comments Post Comment
Categories About Us Resources

 Circuits  Living
(/living/) Who We Are Sitemap (/sitemap/)
(/circuits/)  Outside (/about/) Help (/how-to-write-a-
 Workshop (/outside/) Why Publish? great-instructable/)
(/workshop/)  Teachers (/create/) Contact (/contact/)
 Craft
(/craft/) (/teachers/)
 Cooking
(/cooking/)
Find Us
(https://www.instagram.com/instructables/) (https://www.pinterest.com/instructables) (https://www.facebook.com/instructables) (https://www.twitter.com/instructables)
© 2022 Autodesk, Inc.
Terms of Service Privacy Statement Privacy settings | Legal Notices & Trademarks
(http://usa.autodesk.com/adsk/servlet/item? (http://usa.autodesk.com/adsk/servlet/item? Do not sell my personal information (https://www.autodesk.com/company/legal- (http://usa.autodesk.com/legal-notices-
siteID=123112&id=21959721) siteID=123112&id=21292079) notices-trademarks/ccpa-do-not-sell) trademarks/)
| | |
(http://www.autodesk.com)

DIY Submersible ROV - 8 Steps (With Pictures) - Instructables

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

DIY Submersible ROV - 8 Steps (With Pictures) - Instructables

Uploaded by

Copyright:

Available Formats

 (/) Circuits (/circuits /) Works hop (/works hop/) Craft (/craft/) Cooking (/cooking/)

instructables (/circuits/) Projects (/circuits/projects/) Contests (/contest/) Let's Make...

Testing the ROV in pool 20180521 165238

ROV view of pool test PICT0010 shorter

 Add Tip V Ask Question | Comment Download

Step 1: The Frame

 Add Tip V Ask Question | Comment Download

Step 2: The Dry Tube