The pneumatics system will provide a means for controlling actuators within the submarine such as the claw, torpedos, and marker droppers. Pneumatics are controlled via simple on-off commands to the pneumatic in the form of high and low voltages.

A microcontroller will be utilized as a GPIO expander and will be implemented as a ROS node on the microcontroller itself. This node will subscribe to a topic to control actuators based on boolean values.