Yellow boat 4 Arduino code with HK TR6 A V2 RX PPM interface

Im lowering the top BTW

The build here

The engineering in the boat the cooling fan circulates air blowing it out between the motors. This wee fan moves lots of air on 7.4 Volts

Arduino Inputs from RX

Ch3   Throttle                       Arduino pin 4

Ch1   Steering                       Arduino pin 5
Ch5   Throttle limit                Arduino pin 6
Ch2   Steering on Throttle       Arduino pin 7

Arduino analogue inputs

Anin 0  Ambient temp sensor                      Anin 1  Hall effect current sensor

Arduino outputs

Pin 8    Left jet

Pin 9    Right jet

Pin 10  Cooling fan speed

Pin 11  Steering

Mixing of the outputs

    
  //SteeringBias
  
  int SterringOnThrottle = (long)map((int)ch4v, 1500, 1100, 0, 1000); 
  
  if(SterringOnThrottle < 0) SterringOnThrottle = 0;
  
  SteeringBias = (long)map((int)ch3v - (int)ch3vWOZ, 0, 1000, 0, SterringOnThrottle); 
    
  int SteeringAngle = (long)map((int)ch3v, 1100, 1900, 1000, 2000);
  
  //Limit fan speed for 11.1 V
  FanSpeed = map(FanSpeed, 1100, 1900, 1000, 1500);
  
  //Update the outputs
   
  Servo1.writeMicroseconds((int)Throttle - (int)SteeringBias);
  
  Servo2.writeMicroseconds((int)Throttle + (int)SteeringBias);
     
  Servo3.writeMicroseconds((int)FanSpeed);
   
  Servo4.writeMicroseconds((int)SteeringAngle);

The cooling system

The fan is a 27 mm EDF should keep the air moving with a 10A ESC




There is a big heatsink and fan on the 30 AMp ESCs

#include <servo.h> int ch1 = 4; int ch2 = 5; int ch3 = 6; int ch4 = 7; unsigned long ch1v; unsigned long ch2v; unsigned long ch3v; unsigned long ch3vWOZ = 999; unsigned long ch4v; unsigned long RightLeft = 0; unsigned long UpDown = 0; long SteeringBias = 0; long Throttle = 0; long Cooling = 0; long FanSpeed = 0; Servo Servo1; Servo Servo2; Servo Servo3; Servo Servo4; #define MAX_CHAN 8 int AnIn[MAX_CHAN] = {0, }; unsigned long PPMtout = 20000; char buf[300] = {0, }; long mS = 0; void setup() { Serial.begin(115200); pinMode(ch1, INPUT); pinMode(ch2, INPUT); pinMode(ch3, INPUT); pinMode(ch4, INPUT); Servo1.attach(8); Servo2.attach(9); Servo3.attach(10); Servo4.attach(11); ch3vWOZ = 999; } void loop() { AnIn[0] = analogRead(A0); AnIn[1] = analogRead(A1); AnIn[2] = analogRead(A2); AnIn[3] = analogRead(A3); AnIn[4] = analogRead(A4); AnIn[5] = analogRead(A5); AnIn[6] = analogRead(A6); AnIn[7] = analogRead(A7); /* RAZU-2 Six turn This device has a gain of 55mV per amp giving a 36 Amp working range, and a resolution of 11.3777 mA per bit with the maximum output at 5 volts which is 1024 bits in the Arduino. By the way I should point out that these devices on a 5 volt rail will sit around 2.5 volts with no current flowing, so at a 2 Volt delta the out put should be around 4.5 V */ mS = micros(); //Get PPM from each RX channel noInterrupts(); ch1v = pulseIn(ch1, HIGH, PPMtout);//Throttle if(ch1v > 0) { ch2v = pulseIn(ch2, HIGH, PPMtout);//Nmax ch3v = pulseIn(ch3, HIGH, PPMtout);//Steering ch4v = pulseIn(ch4, HIGH, PPMtout);//SteeringBias //SteeringBias WOZ if(ch3vWOZ == 999) ch3vWOZ = ch3v; } else//Fail safe { ch1v = 1000; ch2v = 1000; } interrupts(); //ALLOW INTERRUPTS BEFORE UPDATE SERVOS delayMicroseconds(2000); //Calculate motor amps long Motor_mA = ((long)(AnIn[1] - 512) * 11.0f); int Tmax = (int)ch2v; //Set max throttle Throttle = (long)map((int)ch1v, 1000, 2000, 1400, Tmax); //Calc amps long Amps = (long)map((int)Motor_mA, 0, 36000, 0, 36); //Calculate cooling temp RTC on AnIn[0] int cerr = ((int)600 - (int)AnIn[0]); //Integrate temparature Cooling += cerr; if(Cooling < 1000) Cooling = 1000; else if(Cooling > 2000) Cooling = 2000; //Use the temperature integrator plus the motor current //36 Amps gives us 360 bits FanSpeed = (long)Cooling + (Amps * 10); //SteeringBias int SterringOnThrottle = (long)map((int)ch4v, 1500, 1100, 0, 1000); if(SterringOnThrottle < 0) SterringOnThrottle = 0; SteeringBias = (long)map((int)ch3v - (int)ch3vWOZ, 0, 1000, 0, SterringOnThrottle); int SteeringAngle = (long)map((int)ch3v, 1100, 1900, 1000, 2000); //Limit fan speed for 11.1 V FanSpeed = map(FanSpeed, 1100, 1900, 1000, 1500); //Update the outputs Servo1.writeMicroseconds((int)Throttle - (int)SteeringBias); Servo2.writeMicroseconds((int)Throttle + (int)SteeringBias); Servo3.writeMicroseconds((int)FanSpeed); Servo4.writeMicroseconds((int)SteeringAngle); long Cyc_mS = (micros() - mS); //ALLOW SERVOS TO UPDATE BEFORE INTERRUPTS OFF delayMicroseconds(18000 - Cyc_mS); Cyc_mS = (micros() - mS); sprintf(buf, "ch1v_Tmax:%d,ch2v_Imax:%d,ch3v_Aielron:%d,Throttle:%d, SteeringBias:%d,AnIn[0]:%d,AnIn[1]:%d,CoolingError:%d,Cooling:%d,Imax:%d,MotorAmps:%d,Cyc_mS:%d", (int)ch1v, (int)ch2v, (int)ch3v, (int)Throttle,(int)SteeringBias, AnIn[0], AnIn[1], cerr, (int)Cooling, (int)Tmax, (int)Amps, (int)Cyc_mS ); Serial.println(buf); }

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