2/15/2018
Thruster Commander
http://docs.bluerobotics.com/commander/
4/5
If you are using a deadman switch connected to SWITCH, simply release the button until the ESC beeps to initialize.
Should you be using the included jumper, you will need to center the knobs to initialize the ESCs.
Controlling Motors
Each
Thruster Commander
contains two output channels (LEFT OUTPUT and RIGHT OUTPUT) with two sets of output
pins each. This means that the
Thruster Commander
can control two sets of motors independently. Three modes of
operation are supported:
Single Input
,
Dual Input
, and
Mixed Input
. The mode is selected by connecting potentiometers
to speci c inputs. See Modes of Operation for valid combinations of potentiometer connections.
Single Input
uses a single potentiometer connected to the SPEED input to drive both the RIGHT and LEFT OUTPUTs
identically.
Dual Input
uses two potentiometer inputs, one on RIGHT IN and one on LEFT IN. The input on RIGHT IN will dictate
the output on RIGHT OUTPUT and the input on LEFT IN will dictate the output on LEFT OUTPUT.
Mixed Input
is designed for use with crafts with left and right thrusters for di erential thrust steering. In these
setups, SPEED controls the base speed of the craft and STEERING controls the di erential thrust.
The 3-pin connectors on the potentiometers are reversible, so if turning a knob runs the motors the wrong way, the
connector can be reversed to correct the problem. Note that only the potentiometer inputs are reversible; the SWITCH
and OUTPUT connectors should not be reversed. Should you be using a BLDC motor such as the T100 or T200, each
motor’s direction can be reversed by swapping any two of the three connections between the ESC and the motor.
Potentiometers can be hot-swapped. However it is advised that this only be done while the outputs are disabled
(SWITCH disconnected from GND or power to thrusters disconnected), as hot-swapping potentiometers while the
outputs are enabled may cause one or more motors to suddenly start running.
Troubleshooting
Two short blinks
Not enough potentiometers are plugged in. The Modes of Operation table shows all valid combinations of
potentiometer connections.
One long blink
Switch is not pressed/connected, or is not correctly connected. The SWITCH signal (center) pin must be connected to
ground (GND pin) by a switch or jumper for the motors to turn.