Introduction: Arduino NANO Simple E-boat Controller (Forward, Neutral, Reverse)
Simple controller for Brushless Motor with ESC and Arduino for docking a Sail Boat.
Switch to control Forward/Neutral/Reverse
Joystick to control the throttle
Ignition Key Switch to turn on the controller.
Supplies
Arduino Nano x1
1P2T Paddle switch x1
Arduino joystick x1
1KOhm Resistor x2
ESC Acording to the motor size that you will use.
Brushless Motor
Ignition Key Switch
WaterProof Connectors
Heat Shrink Tubing
Controller Box
48V Li-ion Battery
5VDC Regulator (48VDC to 5VDC)
Wires ESC to Motor
Wires ESC to Battery
Step 1: The Code
#include <Servo.h>
#include <Wire.h>
int ESCPin = D3; // signal pin for the ESC.
int killPin = D4; // analog input pin for the kill switch.
int MaxDialPin = A0; // analog input pin for the max speed dial pot.(not being used so just use the same input as the throttle)
int switchPin = D6; // analog input pin for the FWD/REV switch.
int potPin = A0; // analog input pin for the throttle (joystick throttle in this case).
float potVal;
float MaxDialVal;
float pwmVal;
float MaxpwmVal;
Servo servo;
int nIts = 20;
int LowVolt = 227 + 180;
int HiVolt = 929 - 180;
void setup() {
Serial.begin(9600);
servo.attach(ESCPin);
pinMode(killPin, INPUT_PULLUP);
pinMode(MaxDialPin, INPUT);
pinMode(switchPin, INPUT_PULLUP);
servo.writeMicroseconds(1500); // send "stop" signal to ESC. Also necessary to arm the ESC.
}
void loop() {
/*potVal = analogRead(potPin); // read input from potentiometer.*/
if (digitalRead(killPin) == LOW) { // If kill switch not activated, then proceed in Run mode
for (int i = 0; i < nIts; i++) {
potVal = potVal + analogRead(potPin);
/*delay(1);*/
MaxDialVal = MaxDialVal + analogRead(MaxDialPin);
}
potVal = potVal / nIts;
MaxDialVal = MaxDialVal / nIts;
//Serial.print("potVal value is: ");
//Serial.println(potVal);
//Serial.print("MaxDialVal value is: ");
//Serial.println(MaxDialVal);
if (digitalRead(switchPin) == HIGH) {
pwmVal = map(potVal, LowVolt, HiVolt, 1100, 2000); // maps potentiometer values to PWM value.
MaxpwmVal = 1500 + (500 * (MaxDialVal / 1058));
//Serial.print("MaxpwmVal value is: ");
//Serial.println(MaxpwmVal);
if (pwmVal > MaxpwmVal) {
pwmVal = MaxpwmVal;
}
//Serial.print("Max-adjusted pwmVal value is: ");
//Serial.println(pwmVal);
if (pwmVal <= 1505) {
pwmVal = 1500;
}
servo.writeMicroseconds(pwmVal); // Send signal to ESC.
/*servo.writeMicroseconds(1500); // Send signal to ESC.*/
Serial.print("Forward: potVal value is: ");
Serial.println(potVal);
Serial.print("Forward: PWM value is: ");
Serial.println(pwmVal);
}
else {
/*if (digitalRead(switchPin) == LOW) {*/
pwmVal = 1500 ;
servo.writeMicroseconds(pwmVal); // Send signal to ESC.
Serial.print("Kill switch activated, ESC in neutral");
Serial.println(pwmVal);
}
}
else
{
for (int i = 0; i < nIts; i++) {
potVal = potVal + analogRead(potPin);
/*delay(1);*/
MaxDialVal = MaxDialVal + analogRead(MaxDialPin);
}
potVal = potVal / nIts;
MaxDialVal = MaxDialVal / nIts;
//Serial.print("potVal value is: ");
//Serial.println(potVal);
//Serial.print("MaxDialVal value is: ");
//Serial.println(MaxDialVal);
pwmVal = map(potVal, 0, 1023, 1100, 2000); // maps potentiometer values to PWM value.
MaxpwmVal = 1490 ;
if (pwmVal > MaxpwmVal) {
pwmVal = MaxpwmVal;
}
if (pwmVal >= 1500) {
pwmVal = 1500;
}
servo.writeMicroseconds(pwmVal); // Send signal to ESC.
Serial.print("Reverse: potVal value is: ");
Serial.println(potVal);
Serial.print("Reverse: PWM value is: ");
Serial.println(pwmVal);
}
}
Step 2: The Wiring
Step 3: The Box
Step 4: Test
