KAS the ESC works perfect when you use traditional radio control , I am thinking it may need to see throttle position at 0 for x seconds before it will power the motors?
Here is me controlling the rover programmed to my radio
Kas , I owe you a beer for the help thus far . 
It appears we need to cut the signal for 3-5 seconds or put throttle to 0 . If it see signal then the esc won't engage .
I hooked everything up and moved joy stick to back position on your app and it engaged. Therefore I was able to drive rover forward and back for this video . When I tried to do same procedure and test again it would not engaged the esc ???
Here is video
Here is me controlling the rover programmed to my radio
https://www.youtube.com/watch?v=RBomaEX9W1E
Nice and powerful bot
At which level is differential steering implemented ??
Here is serial pic request, I am still researching on my ESC
Perfect 
It appears we need to cut the signal for 3-5 seconds or put throttle to 0 . If it see signal then the esc won't engage .
I hooked everything up and moved joy stick to back position on your app and it engaged. Therefore I was able to drive rover forward and back for this video . When I tried to do same procedure and test again it would not engaged the esc
Sorry, can't help you for this specific ESC
I suggest you dedicate one App button for LOW speed mode
On my RC radio differential steering in activated on initial start up, there is no delay as it reacts exactly to my stick movements.
Is there a way to write a section of code to send signal inputs to -100 or low position for X seconds ? I don't mind to use the button just to test this. I think it's very close but the pwm signal seems to be out of range
for the ESC, I will keep test further as I really want this to work.
Here is a PDF of more information that I am reading now.
http://www.robotpower.com/downloads/RobotPower_Scorpion_XL_quickstart.pdf
Thanks KAS
Is there a way to write a section of code to send signal inputs to -100 or low position for X seconds ? I don't mind to use the button just to test this.
Change your setServoPosition function for this one:
void setServoPosition(byte data[8]) { // differential steering version
int servo_L, servo_R;
int joyX = (data[1]-48)*100 + (data[2]-48)*10 + (data[3]-48); // obtain the Int from the ASCII representation
int joyY = (data[4]-48)*100 + (data[5]-48)*10 + (data[6]-48);
joyX = joyX - 200; // Offset to avoid
joyY = joyY - 200; // transmitting negative numbers
if(joyX<-100 || joyX>100 || joyY<-100 || joyY>100) return; // communication error
if(joyY >-10) { // differential steering
servo_L = (joyY - (3*joyX)/4);
servo_R = (joyY + (3*joyX)/4);
} else {
servo_L = (joyY + (3*joyX)/4);
servo_R = (joyY - (3*joyX)/4);
}
servo_L = map(servo_L, -100, 100, 180, 0); // << adjust to change motor direction XXX
servo_R = map(servo_R, -100, 100, 0, 180); // <<
servo_L = constrain(servo_L, 0, 180);
servo_R = constrain(servo_R, 0, 180);
myservoX.write(servo_L);
myservoY.write(servo_R);
if(DEBUG) {Serial.print(joyX); Serial.print(", "); Serial.println(joyY);}
}
This version implements differential steering
By moving joystick "full south", you will send 'low' to both motors
Should you post a new video, please move joystick slowly
I really wish I understood the code that you give me, thanks for your patience. I will try it asap and slow my stick movements on next video
kas, I have good news I got rover working. I calibrated ESC and now it's working fine.
I do have a video but its not very good. Rover is very difficult to control as Left and Right Stick movements
cause the rover to go forward or backwards and up/down movements cause it to turn.
I tried to capture this on video but it was difficult by myself. I also need to dial in some expo as it's very sensitive before it gets full power.
Thank you sir.
Video
I do have a video but its not very good. Rover is very difficult to control as Left and Right Stick movements cause the rover to go forward or backwards and up/down movements cause it to turn.
As mentioned in the code, adjust motors direction
Depending on your motor connections, you probably have to change
servo_L = map(servo_L, -100, 100, 180, 0); // << adjust to change motor direction XXX
servo_R = map(servo_R, -100, 100, 0, 180);
to
servo_L = map(servo_L, -100, 100, 0, 180); // << adjust to change motor direction XXX
servo_R = map(servo_R, -100, 100, 0, 180);
During testing, you may change
myservoX.write(servo_L);
myservoY.write(servo_R);
to
myservoX.write(servo_L /2);
myservoY.write(servo_R /2);
I found out I have to calibrate the esc every time I make changes to the pwn signal. After a couple more hours of messing it I now have a drivable unit . I can't thank you enough Kas .
Here is a video , it's not very good as it's hard to drive and video . I will have my wife help me tomorrow .
How can I display mAh and voltage ? The other things I'm curious about as if signal is weak or missing then it will act as dead man switch to motors .
Also can I insert code from example ino file for the button commands to actual a servo ?
Video
Thanks ,
FullSpool
Here is a video
Seems we are on the right track
How can I display mAh and voltage ? The other things I'm curious about as if signal is weak or missing then it will act as dead man switch to motors .
Let's start by the Dead Man implementation
Which safety level do you require ??
- moderate: boot will stop if signal is lost and immediately restart when signal is back
- high: needs Arduino reboot to restart motion
Let me have a copy of your actual working sketch
We need to work on the very same code
Is there mV and mA outputs on your driver board ??
Also can I insert code from example ino file for the button commands to actual a servo ?
Please elaborate
Out of curiosity, where are you based in this Global Village ?
Kas,
This sketch is working really well but I have expo jumper installed on the ESC . If not, it's to sensitive with the joy stick commander app. I am in the USA , if you want exact location I can PM you .
I have no pins assigned on my UNO yet for mA or voltage read out. I am powering my rover with
a 3s lipo (4.1v x 3= 12.3 v fully charged) so I assume I will need to solder in a jumper off the main feed and tie it into an analog pin on the uno? or tie into the balance port on the Lipo battery itself? I can't use the 5v out pin on the uno as it wont show me true voltage as I am powering it with more then 5v.
I just need moderate dead mans kill switch.
I would also like button 1 to tie into pin 8 on the uno, when button 1 is pushed a new servo will sweep 90 degrees, when button 1 is pressed again it will move back to original state.
#define VERSION "\n\nAndro_Pan&Tilt V3.6 - @kas2014\n** servo's demo for V5.x App **"
// Controls two servo motors
// V3.6: Android BT Commander V5.X compatible, no button data management
// V3.0: Android BT Commander V3.X compatible, no button data management
// V2.5 can receive both Byte & Integer data
// V2.0: removed SoftwareSerial
// Android BT Commander settings:
// Options/Options for advanced users/Data Range >>> -100 to +100
// Options/Options for advanced users/Refresh interval >>> 50ms
// Arduino pin #0 to TX BlueTooth module
// BT TX to be disconnected from D0 during sketch upload
#include <Servo.h>
boolean DEBUG = true;
#define pinServo_X 9 //<< ServoX pin
#define pinServo_Y 10 //<< ServoY pin
#define STX 0x02
#define ETX 0x03
#define MIN_Y 0 //45 // vertical move limitation,
#define MAX_Y 180 // adjust to needs
#define ZERO_Y -1 //60 // vertical zero offset
byte cmd[8] = {0, 0, 0, 0, 0, 0, 0, 0};
Servo myservoX; // create servo objects
Servo myservoY;
void setup() {
Serial.begin(57600);
myservoX.attach(pinServo_X);
myservoY.attach(pinServo_Y);
if(DEBUG) Serial.println(VERSION);
}
void loop() {
if(Serial.available()) { // data received from smartphone
delay(2);
cmd[0] = Serial.read();
if(cmd[0] == STX) {
int i=1;
while(Serial.available()) {
delay(1);
cmd[i] = Serial.read();
if(cmd[i]>127 || i>7) break; // Communication error
if((cmd[i]==ETX) && (i==2 || i==7)) break; // Button or Joystick data
i++;
}
if(i==7) setServoPosition(cmd);
}
}
}
void setServoPosition(byte data[8]) { // differential steering version
int servo_L, servo_R;
int joyX = (data[1]-48)*100 + (data[2]-48)*10 + (data[3]-48); // obtain the Int from the ASCII representation
int joyY = (data[4]-48)*100 + (data[5]-48)*10 + (data[6]-48);
joyX = joyX - 200; // Offset to avoid
joyY = joyY - 200; // transmitting negative numbers
if(joyX<-100 || joyX>100 || joyY<-100 || joyY>100) return; // communication error
if(joyY >-10) { // differential steering
servo_L = (joyY - (3*joyX)/4);
servo_R = (joyY + (3*joyX)/4);
} else {
servo_L = (joyY + (3*joyX)/4);
servo_R = (joyY - (3*joyX)/4);
}
servo_L = map(servo_L, -100, 100, 0, 180); // << adjust to change motor direction XXX
servo_R = map(servo_R, -100, 100, 0, 180); // <<
servo_L = constrain(servo_L, 0, 180);
servo_R = constrain(servo_R, 0, 180);
myservoX.write(servo_L/2);
myservoY.write(servo_R/2);
if(DEBUG) {Serial.print(joyX); Serial.print(", "); Serial.println(joyY);}
}
This sketch is working really well but I have expo jumper installed on the ESC . If not, it's to sensitive with the joy stick commander app
Is it OK with the expo jumper ??
The signal can also be tuned within the Arduino code
I am powering my rover with a 3s lipo (4.1v x 3= 12.3 v fully charged) so I assume I will need to solder in a jumper off the main feed and tie it into an analog pin on the uno?
Don't do that 
you will fry your Uno
Analog pins accept no more than 5 Volts, you need a voltage divider
Back to full blown code, with feedback to smartphone
This is AndroTest_Servo_fullspool V1.1, with Dead Man implementation
#define VERSION "\n\nAndroTest_Servo_fullspool V1.x - @kas2016\ndemo for servo's"
// V1.1 added Dead Man feature
// V1.0 Basic implementattion
// Android BT Commander settings:
// Options/Options for advanced users/Data Range >>> -100 to +100
// Options/Options for advanced users/Refresh interval >>> 50ms
// Arduino pin #0 to TX BlueTooth module
// BT TX to be disconnected from D0 during sketch upload
#include <Servo.h>
#define pinServo_X 9 //<< ServoX pin
#define pinServo_Y 10 //<< ServoY pin
#define STX 0x02
#define ETX 0x03
#define ledPin 13
Servo myservoX; // create servo objects
Servo myservoY;
byte cmd[8] = {0, 0, 0, 0, 0, 0, 0, 0}; // bytes received
byte buttonStatus = 0; // first Byte sent to Android device
long previousMillis = 0; // will store last time Buttons status was updated
long sendInterval = 750; // interval between Buttons status transmission (milliseconds)
long deadManInterval = 1100; // interval between Dead Man checks (milliseconds)
boolean deadManTimeout = false; // dead man flag
String displayStatus = "xxxx"; // message to Android device
int servo_L, servo_R = 90; // servo's positioning values
void setup() {
Serial.begin(57600);
myservoX.attach(pinServo_X);
myservoY.attach(pinServo_Y);
pinMode(ledPin, OUTPUT);
while(Serial.available()) Serial.read(); // empty RX buffer
}
void loop() {
if(Serial.available()) { // data received from smartphone
deadManTimeout = false; // reset Dead Man
delay(2);
cmd[0] = Serial.read();
if(cmd[0] == STX) {
int i=1;
while(Serial.available()) {
delay(1);
cmd[i] = Serial.read();
if(cmd[i]>127 || i>7) break; // Communication error
if((cmd[i]==ETX) && (i==2 || i==7)) break; // Button or Joystick data
i++;
}
if (i==2) getButtonState(cmd[1]); // 3 Bytes ex: < STX "C" ETX >
else if(i==7) getJoystickState(cmd); // 6 Bytes ex: < STX "200" "180" ETX >
}
}
sendBlueToothData();
checkDeadMan();
motorsControl();
}
void checkDeadMan() { // stop engines if signal is lost
static long previousMillis = 0;
long currentMillis = millis();
if(currentMillis - previousMillis > deadManInterval) { // check is performed every deadManInterval ms
previousMillis = currentMillis;
if(deadManTimeout) {
myservoX.write(90); // stop motors
myservoY.write(90);
}
deadManTimeout = true;
}
}
void motorsControl() {
myservoX.write(servo_L/2);
myservoY.write(servo_R/2);
}
void sendBlueToothData() {
static long previousMillis = 0;
long currentMillis = millis();
if(currentMillis - previousMillis > sendInterval) { // send data back to smartphone
previousMillis = currentMillis;
// Data frame transmitted back from Arduino to Android device:
// < 0X02 Buttons state 0X01 DataField#1 0x04 DataField#2 0x05 DataField#3 0x03 >
// < 0X02 "01011" 0X01 "120.00" 0x04 "-4500" 0x05 "Motor enabled" 0x03 > // example
Serial.print((char)STX); // Start of Transmission
Serial.print(getButtonStatusString()); Serial.print((char)0x1); // buttons status feedback
Serial.print(GetdataInt1()); Serial.print((char)0x4); // datafield #1
Serial.print(GetdataFloat2()); Serial.print((char)0x5); // datafield #2
Serial.print(displayStatus); // datafield #3
Serial.print((char)ETX); // End of Transmission
}
}
String getButtonStatusString() {
String bStatus = "";
for(int i=0; i<6; i++) {
if(buttonStatus & (B100000 >>i)) bStatus += "1";
else bStatus += "0";
}
return bStatus;
}
int GetdataInt1() { // Data dummy values sent to Android device for demo purpose
static int i= -30; // Replace with your own code
i ++;
if(i >0) i = -30;
return i;
}
float GetdataFloat2() { // Data dummy values sent to Android device for demo purpose
static float i=50; // Replace with your own code
i-=.5;
if(i <-50) i = 50;
return i;
}
void getJoystickState(byte data[8]) {
int joyX = (data[1]-48)*100 + (data[2]-48)*10 + (data[3]-48); // obtain the Int from the ASCII representation
int joyY = (data[4]-48)*100 + (data[5]-48)*10 + (data[6]-48);
joyX = joyX - 200; // Offset to avoid
joyY = joyY - 200; // transmitting negative numbers
if(joyX<-100 || joyX>100 || joyY<-100 || joyY>100) return; // communication error
if(joyY >-10) { // differential steering
servo_L = (joyY - (3*joyX)/4);
servo_R = (joyY + (3*joyX)/4);
} else {
servo_L = (joyY + (3*joyX)/4);
servo_R = (joyY - (3*joyX)/4);
}
servo_L = map(servo_L, -100, 100, 0, 180); // << adjust to change motor direction
servo_R = map(servo_R, -100, 100, 0, 180);
servo_L = constrain(servo_L, 0, 180);
servo_R = constrain(servo_R, 0, 180);
}
void getButtonState(int bStatus) {
switch (bStatus) {
// ----------------- BUTTON #1 -----------------------
case 'A':
buttonStatus |= B000001; // ON
displayStatus = "LED <ON>";
digitalWrite(ledPin, HIGH);
break;
case 'B':
buttonStatus &= B111110; // OFF
displayStatus = "LED <OFF>";
digitalWrite(ledPin, LOW);
break;
// ----------------- BUTTON #2 -----------------------
case 'C':
buttonStatus |= B000010; // ON
displayStatus = "Button2 <ON>";
break;
case 'D':
buttonStatus &= B111101; // OFF
displayStatus = "Button2 <OFF>";
break;
// ----------------- BUTTON #3 -----------------------
case 'E':
buttonStatus |= B000100; // ON
displayStatus = "Button3 <ON>";
break;
case 'F':
buttonStatus &= B111011; // OFF
displayStatus = "Button3 <OFF>";
break;
// ----------------- BUTTON #4 -----------------------
case 'G':
buttonStatus |= B001000; // ON
displayStatus = "Button4 <ON>";
break;
case 'H':
buttonStatus &= B110111; // OFF
displayStatus = "Button4 <OFF>";
break;
// ----------------- BUTTON #5 -----------------------
case 'I': // configured as momentary button
displayStatus = "Button5: <pushed>";
break;
// ----------------- BUTTON #6 -----------------------
case 'K':
buttonStatus |= B100000; // ON
displayStatus = "Button6 <ON>"; // Demo text message
break;
case 'L':
buttonStatus &= B011111; // OFF
displayStatus = "Button6 <OFF>";
break;
}
// ---------------------------------------------------------------
}
I have no possibilities to test the code for the moment, but at least, it compiles
Make me a favor, edit your last post and embed your code as such
[c ode] ... code... [/c ode] (ommit the two spaces)
or use the </> button at the top left of the "Post reply" dialog
Post will be more legible
kas:
Is it OK with the expo jumper ??
The signal can also be tuned within the Arduino codeDon't do that
Analog pins accept no more than 5 Volts, you need a voltage dividerMake me a favor, edit your last post and embed your code as such
[c ode] ... code... [/c ode] (ommit the two spaces)
or use the </> button at the top left of the "Post reply" dialog
Post will be more legible
So I can keep tuning the signal by adjusting this part of the code correct?
myservoX.write(servo_L/2);
myservoY.write(servo_R/2);
If I do a voltage divider will it only show the 5v on the telemetry? Or give me my actual 12v reading?
I fixed the post, thanks for the feed back. I will work on it more today.
So I can keep tuning the signal by adjusting this part of the code correct?
myservoX.write(servo_L/2);
myservoY.write(servo_R/2);
Yes, you can use any mathematical function (linear or non linear)
If I do a voltage divider will it only show the 5v on the telemetry? Or give me my actual 12v reading
You will read actual battery voltage
Be prepared to have 1/4W resistors:
1X 4.7K + 1X 10K
or
3X 4.7K
For Amp you will need a 5A Current Sensor Module ACS712 such as this one (2 bucks, shipped)
Thank you Kas , I will get the parts ordered and research the voltage divider .
I tried the new code , when I press button 1 it lights up the LED however when I connect a servo to pin 13 it just twitches.
Next I tested Deadman , whenever signal is lost the motors keep turning in the last known position .
I am not sure how to fix it ?
On a side note I made some new axles as my aluminum axles bend to easy . These are made from drill stock so should be much stronger .
I tried the new code , when I press button 1 it lights up the LED however when I connect a servo to pin 13 it just twitches.
Next I tested Deadman , whenever signal is lost the motors keep turning in the last known position .
I am not sure how to fix it ?
This is AndroTest_Servo_fullspool Version 1.2
// V1.2 added 3rd servo control, fixed Dead Man
Code is attached, you need to be logged to access it
Make sure to connect the AUX servo to pin #8
What is it used for ??
I also noticed on your video that your smartphone don't get any feedback from Arduino
Please connect BT board RX pin to Arduino pin #1
On your smartphone Datafield #1 and #2 will (should) display demo changing numbers
Datafield #3 will display AUX servo and buttons status
These are made from drill stock so should be much stronger
At least they won't bend anymore
Again, if you make any change to the code, please send me a copy
We really need to stay synchronized
AndroTest_Servo_fullspool_V1.2.ino (7.74 KB)
Kas,
I tested the servo with button 1 and it works now however the dead man test goes from last known for a second or 2 then motors go wide open until signal is restored . The reason I want to move servo arm is for my locking mechanism .
I will test further , the code is attached.
AndroTest_Servo_fullspool_V1.2.ino (7.74 KB)
Please replace
if(deadManTimeout) {
servo_L = 0; // stop motors
servo_R = 0;
}
by
if(deadManTimeout) {
servo_L = 90; // stop motors
servo_R = 90;
}
Can you see changing values in App's datafields ??
That fixed it however there is a 2 second delay from last known position till the motors quit.
Controls are getting really smooth , led lights up and servo actuates as it should for now.
I am really happy how this is progressing . I can't wait till my telemetry parts come in.
New video
