Steering unit, lights and servo fpv cam for RC 3ch radio

1/* 
2rear Steering and fpv cam controller with blinker and rear light  for cheap 3ch radio trasmitters without any mix functions.
3 
4I used an inexpensive  nano board v3 
5the pins used are VIN(+)and GND(-) 
6you can feed the power  from your speed controller bec or by an external bec circuit, check your servo max  voltage. 
7
8the pins I used are: 
9pin D7 throttle signal input. 
10pin  D8 front steering input signal. D10 rear steering signal output.
11pin D9 aux signal  input
12pin D4 D5 blinking leds
13pin D6 brake rev led light
14pin D3 dazzling  maxspeed light
15pin D10 output steering rear servo
16pin D11 output fpv cam rotating  servo.
17-----------------------------------------
18basic setup instructions:  
19first you must get the best mechanical setup of your front and rear servos,  best adjusting link rod best without subtrims and radio adjustements. 
20the values  you find by default should make the controller work quite right away.
21however  if you want to be sure about your real values about your radio signal inputs check  them before starting this sketch. 
22to check values send by thr str aux channels  you must create a new tab in arduino.ide and check your input signals with the serial  monitor using this program below 
23(number 7 is for steering - 8 for throttle  - 9 for aux) you must load and launch 3 times, one for each value to check. 
24
25int  rxpulse;
26void setup () {
27Serial.begin (9600);
28}
29void loop () {
30rxpulse  = pulseIn (7, HIGH); // - 7 to know true front steering signal range, 8 throttle,  9 aux
31Serial.println (rxpulse);
32
33you can read the values in the serial  monitor by turning the steering wheel of the radio control or moving the throttle.
34write  the values obtained from your rx  and fill the first part of the controller setup,  replace the default ones with yours custom values send by transmitter.
35--------------------------------------------------  ------
36the user driving setup consists of 2 functions: 
37you can choose how  much throttle allow at low speed before the width of the rear servo starts to close  (Speedlimit function).
38
39the second function allows you to determine the rear  servo width at maximum throttle (Max_gain).
40you can choose to close rear steering  completely or leave a limitate width available to turn with 4 steering wheels even  at maximum speed.
41
42servo cam setup: basically with a 3ch cheap radio aux channel  is an on-off interrupt.
43aux function 1 set servo cam in fix streight front position  and you can set fix angle cam direction to adjust your best visual. 
44aux function  2 set servo moving by copy steering and you can adjust travel endpoint camsx damdx  for max 180 rotation.
45also you can adjust centering for moving position in a  different visual angle respect function 1 fix position. 
46
47 
48both tolerances  are used to cutoff vibrations and servo tremors.
49
50led setup:
51
52Blinkpoint:  allow value steering travel where direction led start to blink. 
53Streight: is  used to define steering center position just for blinking led light. can be the  same of center value of your transmitter but somethimes you must add small corrections  if steering center is not set to 1500 or if you have add some center correction.
54
55rearstart:  allow to decide reverse value where brake light start on.
56----------
57troubleshooting:  
58somethimes it can happen that you exceed with the max values and the steering  direction and it result inverted, be careful to find the best suitable max values  for your model.
59to get the servo reversed you just have to exchange the Postsx  Postdx rear steering values and put a sign (-) in front of the Max_gain value
60there  is a relationship between Slowlimit, Max_gain and rear endpoints, so it can happen  that if you lower one value you will have to raise the others or center again wheels  centering.
61particular model assembly situation give throttle stick in reverse  position values, so max thr will be 1000 and min 2000. 
62in this situation you  must check instructions in program line (Gaspulse > Slowlimit) read grey notes about.
63inside  "loop" in normal RC condition there is nothing really important to modify, just  fill all define  values numbers and load your setup to nano.
64I have written all  default values in grey notes, helpful if you wrong some. 
65however I am sure that  it will be easy to understand how all controller works
66
67*/
68
69//-----------  signal setup -------------------------------------
70#define Neutral 1500 // --  default 1500//minimum throttle forward signal or neutral position
71#define Maxspeed  2000 // -- default 2000//maximum throttle forward signal 
72#define Antsx 1000  // -- default 1000//in front servo signal sx
73#define Antdx 2000 // -- default  2000//in front servo signal dx
74
75
76//----------- rear servo setup -------------------------------
77#define  Postsx 1000 //-- default 1000//out rear servo sx end point (if inverted with postdx  it reverse)
78#define Postdx 2000 //-- default 2000//out rear servo dx endpoint  (if inverted with postsx it reverse)
79#define Center 0 //-- default 0//add or  subtract your value to center steering (+- 50 or more)
80
81 
82//--------- user  driving setup ------------------------------ 
83#define Max_gain 400 //-- default  400//gain steering reduction width at max throttle (if work reverse add (-) before  value)
84#define Slowlimit 1600 //-- default 1600//slow forward percentage without  endpoint correction
85
86
87
88//------------ servo cam setup ------------------------------
89#define  tolerance 4 //-- default 4//servo cam vibration cutoff 
90#define front 0 //--  default 0//servo cam front centering in moving aux position
91#define Camsx 5 //--default  5// servo cam endpoint sx (reverse with camdx)
92#define Camdx 175//-- default  175// servo cam endpoint dx (reverse with camsx)
93#define fix 1500 //-- default  1500//servo cam front centering in fix aux position
94
95
96//-------------led  setup ------------------------------------
97#define Streight 1500 //-- default  1500//neutral signal steering centered position for blinking arrow light 
98#define  Blinkpoint 200 //-- default 300//steering value where led start to blink.
99#define  rearstart 1400 //-- default 1300// reverse gear light start at 1300
100
101//-----------------------------------------  program part, nothing to do here ---------------
102
103#include <Servo.h>
104Servo  myservo;
105Servo camservo; 
106#define N_STST  7 // default 7//rear steering vibration  cutoff 
107unsigned int stSt[ N_STST ];  
108long toStSt = 0;           
109int  inSt = 0;                                         
110int Tol = 0;
111unsigned int  auxpulse;           
112unsigned int Rxpulse;
113unsigned int Gaspulse;
114unsigned  int Gain;
115unsigned int NewPos, OldPos;
116unsigned int newloc, oldloc;
117unsigned  int Centerpos = fix ;
118int led1 = 4;
119int led2 = 5;
120int led3 = 6;
121int  led4 = 3;
122void setup() {
123for ( int i=0; i<N_STST; i++ ) stSt[ i ] = 0;
124
125myservo.attach(10);  //--  rear servo signal out pin 10
126pinMode(8, INPUT); //--  front servo signal  in pin 8
127pinMode(7, INPUT); //-- throttle signal in pin 7
128camservo.attach(11);  //-- cam servo out pin 11
129pinMode(9, INPUT); //--aux servo signal in pin 9
130pinMode(led1,  OUTPUT); //--led blinker dx out pin 4
131pinMode(led2, OUTPUT); //--led blinker  sx out pin 5
132pinMode(led3, OUTPUT); //--led retro brake out pin 6
133pinMode  (led4, OUTPUT); //-- led maxspeed out pin 3
134}
135void loop(){  
136auxpulse =  pulseIn(9, HIGH);
137Gaspulse = pulseIn(7, HIGH);
138  noInterrupts();
139Rxpulse  = pulseIn(8, HIGH);   
140interrupts();
141delay(5);  
142if (Gaspulse > Slowlimit){  //-- default >// if your throttle signal is reversed must change "<" 
143Gain  = map(Gaspulse, Slowlimit, Maxspeed, 0, Max_gain );
144NewPos = map(Rxpulse, Antsx,  Antdx, (Postsx + Gain), (Postdx - Gain));
145} 
146else{ 
147NewPos = map(Rxpulse,  Antsx, Antdx, Postsx, Postdx);
148} 
149if (abs(NewPos - OldPos)> Tol){ 
150OldPos  = NewPos;
151myservo.write(NewPos + Center);}
152
153//-- led part ----------
154  if (RXpulse > Streight+Blinkpoint) {digitalWrite(led1, (millis() / 100) % 2); //--default  100// this is led blink speed 
155              
156 }else   digitalWrite(led1,  LOW);  
157if (Rxpulse < Streight-Blinkpoint){ digitalWrite(led2, (millis() / 100)  % 2); //--default 100// this is led blink speed 
158               
159} else  digitalWrite(led2,  LOW);
160  
161if (Gaspulse < rearstart){digitalWrite(led3,HIGH); 
162
163}else  digitalWrite(led3, LOW);
164if (Gaspulse > Maxspeed-100){digitalWrite(led4,HIGH);  //-- default 100// higher values start light before maxspeed limit
165
166}else  digitalWrite(led4, LOW);
167
168//-- aux cam part ----------
169
170 
171if (auxpulse  > 1600){//--default > 1600// define and change aux position
172camservo.write(fix);
173delay  (4);
174
175}else {
176 newloc = map(pulseIn(8, HIGH),Antsx,Antdx,Camsx,Camdx);
177
178
179if(abs(newloc  - oldloc) > tolerance){
180oldloc = newloc;
181camservo.write(newloc + front);
182}
183}
184}
185

1/* 
2rear Steering and fpv cam controller with blinker and rear light
3  for cheap 3ch radio trasmitters without any mix functions.
4 
5I used an inexpensive
6  nano board v3 
7the pins used are VIN(+)and GND(-) 
8you can feed the power
9  from your speed controller bec or by an external bec circuit, check your servo max
10  voltage. 
11
12the pins I used are: 
13pin D7 throttle signal input. 
14pin
15  D8 front steering input signal. D10 rear steering signal output.
16pin D9 aux signal
17  input
18pin D4 D5 blinking leds
19pin D6 brake rev led light
20pin D3 dazzling
21  maxspeed light
22pin D10 output steering rear servo
23pin D11 output fpv cam rotating
24  servo.
25-----------------------------------------
26basic setup instructions:
27  
28first you must get the best mechanical setup of your front and rear servos,
29  best adjusting link rod best without subtrims and radio adjustements. 
30the values
31  you find by default should make the controller work quite right away.
32however
33  if you want to be sure about your real values about your radio signal inputs check
34  them before starting this sketch. 
35to check values send by thr str aux channels
36  you must create a new tab in arduino.ide and check your input signals with the serial
37  monitor using this program below 
38(number 7 is for steering - 8 for throttle
39  - 9 for aux) you must load and launch 3 times, one for each value to check. 
40
41int
42  rxpulse;
43void setup () {
44Serial.begin (9600);
45}
46void loop () {
47rxpulse
48  = pulseIn (7, HIGH); // - 7 to know true front steering signal range, 8 throttle,
49  9 aux
50Serial.println (rxpulse);
51
52you can read the values in the serial
53  monitor by turning the steering wheel of the radio control or moving the throttle.
54write
55  the values obtained from your rx  and fill the first part of the controller setup,
56  replace the default ones with yours custom values send by transmitter.
57--------------------------------------------------
58  ------
59the user driving setup consists of 2 functions: 
60you can choose how
61  much throttle allow at low speed before the width of the rear servo starts to close
62  (Speedlimit function).
63
64the second function allows you to determine the rear
65  servo width at maximum throttle (Max_gain).
66you can choose to close rear steering
67  completely or leave a limitate width available to turn with 4 steering wheels even
68  at maximum speed.
69
70servo cam setup: basically with a 3ch cheap radio aux channel
71  is an on-off interrupt.
72aux function 1 set servo cam in fix streight front position
73  and you can set fix angle cam direction to adjust your best visual. 
74aux function
75  2 set servo moving by copy steering and you can adjust travel endpoint camsx damdx
76  for max 180 rotation.
77also you can adjust centering for moving position in a
78  different visual angle respect function 1 fix position. 
79
80 
81both tolerances
82  are used to cutoff vibrations and servo tremors.
83
84led setup:
85
86Blinkpoint:
87  allow value steering travel where direction led start to blink. 
88Streight: is
89  used to define steering center position just for blinking led light. can be the
90  same of center value of your transmitter but somethimes you must add small corrections
91  if steering center is not set to 1500 or if you have add some center correction.
92
93rearstart:
94  allow to decide reverse value where brake light start on.
95----------
96troubleshooting:
97  
98somethimes it can happen that you exceed with the max values and the steering
99  direction and it result inverted, be careful to find the best suitable max values
100  for your model.
101to get the servo reversed you just have to exchange the Postsx
102  Postdx rear steering values and put a sign (-) in front of the Max_gain value
103there
104  is a relationship between Slowlimit, Max_gain and rear endpoints, so it can happen
105  that if you lower one value you will have to raise the others or center again wheels
106  centering.
107particular model assembly situation give throttle stick in reverse
108  position values, so max thr will be 1000 and min 2000. 
109in this situation you
110  must check instructions in program line (Gaspulse > Slowlimit) read grey notes about.
111inside
112  "loop" in normal RC condition there is nothing really important to modify, just
113  fill all define  values numbers and load your setup to nano.
114I have written all
115  default values in grey notes, helpful if you wrong some. 
116however I am sure that
117  it will be easy to understand how all controller works
118
119*/
120
121//-----------
122  signal setup -------------------------------------
123#define Neutral 1500 // --
124  default 1500//minimum throttle forward signal or neutral position
125#define Maxspeed
126  2000 // -- default 2000//maximum throttle forward signal 
127#define Antsx 1000
128  // -- default 1000//in front servo signal sx
129#define Antdx 2000 // -- default
130  2000//in front servo signal dx
131
132
133//----------- rear servo setup -------------------------------
134#define
135  Postsx 1000 //-- default 1000//out rear servo sx end point (if inverted with postdx
136  it reverse)
137#define Postdx 2000 //-- default 2000//out rear servo dx endpoint
138  (if inverted with postsx it reverse)
139#define Center 0 //-- default 0//add or
140  subtract your value to center steering (+- 50 or more)
141
142 
143//--------- user
144  driving setup ------------------------------ 
145#define Max_gain 400 //-- default
146  400//gain steering reduction width at max throttle (if work reverse add (-) before
147  value)
148#define Slowlimit 1600 //-- default 1600//slow forward percentage without
149  endpoint correction
150
151
152
153//------------ servo cam setup ------------------------------
154#define
155  tolerance 4 //-- default 4//servo cam vibration cutoff 
156#define front 0 //--
157  default 0//servo cam front centering in moving aux position
158#define Camsx 5 //--default
159  5// servo cam endpoint sx (reverse with camdx)
160#define Camdx 175//-- default
161  175// servo cam endpoint dx (reverse with camsx)
162#define fix 1500 //-- default
163  1500//servo cam front centering in fix aux position
164
165
166//-------------led
167  setup ------------------------------------
168#define Streight 1500 //-- default
169  1500//neutral signal steering centered position for blinking arrow light 
170#define
171  Blinkpoint 200 //-- default 300//steering value where led start to blink.
172#define
173  rearstart 1400 //-- default 1300// reverse gear light start at 1300
174
175//-----------------------------------------
176  program part, nothing to do here ---------------
177
178#include <Servo.h>
179Servo
180  myservo;
181Servo camservo; 
182#define N_STST  7 // default 7//rear steering vibration
183  cutoff 
184unsigned int stSt[ N_STST ];  
185long toStSt = 0;           
186int
187  inSt = 0;                                         
188int Tol = 0;
189unsigned int
190  auxpulse;           
191unsigned int Rxpulse;
192unsigned int Gaspulse;
193unsigned
194  int Gain;
195unsigned int NewPos, OldPos;
196unsigned int newloc, oldloc;
197unsigned
198  int Centerpos = fix ;
199int led1 = 4;
200int led2 = 5;
201int led3 = 6;
202int
203  led4 = 3;
204void setup() {
205for ( int i=0; i<N_STST; i++ ) stSt[ i ] = 0;
206
207myservo.attach(10);
208  //--  rear servo signal out pin 10
209pinMode(8, INPUT); //--  front servo signal
210  in pin 8
211pinMode(7, INPUT); //-- throttle signal in pin 7
212camservo.attach(11);
213  //-- cam servo out pin 11
214pinMode(9, INPUT); //--aux servo signal in pin 9
215pinMode(led1,
216  OUTPUT); //--led blinker dx out pin 4
217pinMode(led2, OUTPUT); //--led blinker
218  sx out pin 5
219pinMode(led3, OUTPUT); //--led retro brake out pin 6
220pinMode
221  (led4, OUTPUT); //-- led maxspeed out pin 3
222}
223void loop(){  
224auxpulse =
225  pulseIn(9, HIGH);
226Gaspulse = pulseIn(7, HIGH);
227  noInterrupts();
228Rxpulse
229  = pulseIn(8, HIGH);   
230interrupts();
231delay(5);  
232if (Gaspulse > Slowlimit){
233  //-- default >// if your throttle signal is reversed must change "<" 
234Gain
235  = map(Gaspulse, Slowlimit, Maxspeed, 0, Max_gain );
236NewPos = map(Rxpulse, Antsx,
237  Antdx, (Postsx + Gain), (Postdx - Gain));
238} 
239else{ 
240NewPos = map(Rxpulse,
241  Antsx, Antdx, Postsx, Postdx);
242} 
243if (abs(NewPos - OldPos)> Tol){ 
244OldPos
245  = NewPos;
246myservo.write(NewPos + Center);}
247
248//-- led part ----------
249
250  if (RXpulse > Streight+Blinkpoint) {digitalWrite(led1, (millis() / 100) % 2); //--default
251  100// this is led blink speed 
252              
253 }else   digitalWrite(led1,
254  LOW);  
255if (Rxpulse < Streight-Blinkpoint){ digitalWrite(led2, (millis() / 100)
256  % 2); //--default 100// this is led blink speed 
257               
258} else  digitalWrite(led2,
259  LOW);
260  
261if (Gaspulse < rearstart){digitalWrite(led3,HIGH); 
262
263}else
264  digitalWrite(led3, LOW);
265if (Gaspulse > Maxspeed-100){digitalWrite(led4,HIGH);
266  //-- default 100// higher values start light before maxspeed limit
267
268}else
269  digitalWrite(led4, LOW);
270
271//-- aux cam part ----------
272
273 
274if (auxpulse
275  > 1600){//--default > 1600// define and change aux position
276camservo.write(fix);
277delay
278  (4);
279
280}else {
281 newloc = map(pulseIn(8, HIGH),Antsx,Antdx,Camsx,Camdx);
282
283
284if(abs(newloc
285  - oldloc) > tolerance){
286oldloc = newloc;
287camservo.write(newloc + front);
288}
289}
290}
291