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Arduino Code for Pololu B328 controller

Below is an arduino based code for the Pololu B328 controllers.
To program this code onto the B328, you will need to setup your arduino environment as per the Pololu tutorial. You will also need to download the Pololu OrangutanMotor library.


B328 RC Speedcontroller Code
Code written by Steven Martin.
#include <OrangutanMotors.h>

#define CH1 7 // ELE - FWD/REV
#define CH2 4 // AIL - LEFT/RIGHT
#define LED 1
#define rcMin 1000
#define rcMax 2000
#define MIXING 1

OrangutanMotors motors; 
unsigned long input2;
unsigned long input1;

void setup()
{
  pinMode(CH1,INPUT);
  pinMode(CH2,INPUT);
  pinMode(LED, OUTPUT);
  
}

void loop()
{
  input2 = pulseIn(CH2, HIGH) ;
  input1 = pulseIn(CH1, HIGH) ;
 
  if (input2 != 0 && input1 != 0)
  {
	int M1 = (input1 - rcMin) -  (rcMax - rcMin)/2;
	int M2 = (input2 - rcMin) -  (rcMax - rcMin)/2;
   
  if(MIXING) 
	{ 
	   long temp = M1 - M2; 
	   if (temp > 250) 
	   { 
		 temp = 255; 
	   } 
	   else if (temp < -250) 
	   { 
		 temp = -255; 
	   } 
		
	   long temp2 = M1 + M2; 
	   if (temp2 > 250) 
	   { 
		 temp2 = 255; 
	   } 
	   else if (temp2 < -250)
	   { 
		 temp2 = -255; 
	   } 
		
	   M1 = temp; 
	   M2 = temp2; 
	}    
	 

   motors.setSpeeds(M1,M2);
  }
}

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