@@ -39,8 +39,10 @@ The OpenMV Camera and the ESP32 Feather are 2 separate microcontrollers. There a
By default, the brushless motors are configured in such a way that they rotate in a single direction when providing an input from 1000ms (low) to 2000ms (high). Therefore, in order to use it on our blimp, we first have to reconfigure the ESC so that it runs the BLDC bidirectionally. In order to do that, you would need an Arduino Board, a couple of jumper wires, and a USB cable to connect the board to your laptop. Follow the following steps:
- Install the BLHeli Suite Software at: https://github.com/bitdump/BLHeli
- Flashing the Arduino: First, connect the Arduino to your computer. Then, open BLHeliSuite. I'm using 16.7.14.9.0.2. Select the Port that your Arduino is connected on in the bottom text input. Then, go to the Make interfaces tab. Select your board from the dropdown and choose the correct baudrate (115200 for our Nano). Click Arduino 4way-interface. You will be asked to select the firmware binary file, which was <BLHeliRootFolder>/Interfaces/Arduino4w-if/4wArduino_Nano__16_MULTIv20005.hex for us. If flashing is successful, AVRDude will say "nnnn bytes of flash verified done. Thank you."
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- Flashing the Arduino: First, connect the Arduino to your computer. Then, open BLHeliSuite. Select the Port that your Arduino is connected on in the bottom text input. Then, go to the Make interfaces tab. Select your board from the dropdown and choose the correct baudrate (115200 for our Nano). Click Arduino 4way-interface. You will be asked to select the firmware binary file, which was <BLHeliRootFolder>/Interfaces/Arduino4w-if/. If flashing is successful, AVRDude will say "nnnn bytes of flash verified done. Thank you."
- Wiring the ESC and Arduino: The Arduino will be powered from the USB bus. DO NOT CONNECT THE BATTERY + TERMINAL TO THE ARDUINO. Connect the negative of the battery to the Arduino ground and ESC power ground. Connect the positive of the battery to the ESC power positive. Finally, connect the PWM/digital pin of the ESC to any pin from 11-13 on the Arduino Uno (You can connect and program multiple ESCs at the same time). Optionally, connect a BLDC motor to the ESC, which will emit a noise upon ESC boot-up to tell you that you've connected the power properly.
- Connecting and Programming: Go to the Make sure that the correct serial/COM port is selected at the bottom of the window, and ensure the baudrate is correct i.e. 115200 for our Uno. From the Select ATMEL / SILABS Interface menu, choose D SILABS BLHeli Bootloader (4way-if). Click the Connect button at the bottom of the screen, then click the Check button. The application should tell you which channel you've connected your ESC to. You can click Read Setup to see what the ESC's current settings are. You can configure your settings and then click Write Setup to program the ESC with the settings you've chosen.
- The Configuration:
***3. Connecting the Brushless DC Motors with the ESP32 Servo Shield***
