I am working on a quadcopter flight controller using Arduino. I have been having a lot of trouble trying to figure out how to get my motors to rotate in an Anti-clockwise direction. I currently have the quad-copter motors rotating clockwise but this causes the quad-copter to spin uncontrollably during flight. The code that I am using is displayed below and any help with the problem above would be very much appreciated. Thanks in advance.
The library I am using is:
#include <Servo.h>
The pins are attached to the Arduino Uno like this.
m1.attach(4);
m2.attach(6);
m3.attach(8);
m4.attach(9);
I call the arm function shown here:
arm();
Which invokes this code:
void arm() {
// arm the speed controller, modify as necessary for your ESC
setSpeed(0);
delay(1000); //delay 1 second, some speed controllers may need longer
}
This is the code here then starts up the motors:
void startMotors()
{
speed = 40;
setSpeed(speed);
Serial.println("Motor Speed: " + speed);
motorsOn = true;
}
As shown the SetSpeed method is invoked in both arm and startmotors function.
void setSpeed(int speed) {
// speed is from 0 to 100 where 0 is off and 100 is maximum speed
//the following maps speed values of 0-100 to angles from 0-180,
// some speed controllers may need different values, see the ESC instructions
int angle = map(speed, 0, 100, 0, 180);
m1.write(angle);
m2.write(angle);
m3.write(angle);
m4.write(angle);
}
Now, the arm function I am not worried about because it is just used for arming and no rotation is need but, its in the start motors function where I need to figure out how to get motors m2 and m3 to rotate Anti - clockwise. Otherwise, the quadcopter will spin in flight, this problem when solved will help to keep the quadcopter stable on left off. I Hope this modification is enough for you to Understand and again thank you in advance.
