**3.4. Controller**

To create a more realistic simulator, the control system for the ROV in the simulator should be similar to the control system of the ROV. A joystick controller or keyboard is one of the common controllers used in the maritime industry. The joystick controller will require multiple turning axes to accommodate all six degrees of motion similar to the movement of a vessel. The simulated ROV is capable of moving in six degrees of motion that is heave, sway, surge, yaw, pitch, and roll in **Figure 6**. As shown in **Figure 7**, the Logitech Extreme 3D Pro is used as the joystick controller to control the ROV movements and functions in the virtual environment. The ROV's controls are scripted and linked to the joystick via a Logitech Profiler. The various buttons and corresponding axis on the joystick are shown in **Table 1**.
