Multi-Servo Control System with CT6B Integration

This project demonstrates a multi-servo control system integrated with the CT6B radio transmitter. It provides seamless functionality for controlling servos via RC signals, enabling actions such as up-down motion, rolling, and pitching.

Overview

The firmware is designed to control four servos connected to a microcontroller using input signals from the CT6B radio receiver. This system is ideal for robotics applications where precise motion control is required. The code includes:

• Servo initialization.
• Mapping RC inputs to servo angles.
• Smooth motion transitions.

Components

The firmware consists of the following key components:

• Servo Initialization: Configures initial positions and movement ranges for the servos.
• CT6B Input Handling: Processes signals from the CT6B receiver channels.
• Motion Control Logic: Implements up-down, rolling, and pitching actions based on input signals.
• Serial Debugging: Outputs signal values for debugging and monitoring.

Setup and Installation

Prerequisites

• Arduino IDE (preferred).
• Servo Library: Ensure the Servo library is included in your Arduino environment.

Hardware Requirements

• Microcontroller: Arduino-compatible board (e.g., Arduino Uno).
• CT6B Radio Receiver: For signal input.
• Servos: Four servos for motion control (connected to specified pins).
• Power Supply: Ensure adequate power for both servos and the microcontroller.

Wiring Diagram

Component	Pin Configuration
Servo LF	Pin 6
Servo RF	Pin 5
Servo LB	Pin 4
Servo RB	Pin 3
CT6B Channel 1	Pin 7
CT6B Channel 2	Pin 8
CT6B Channel 3	Pin 9
CT6B Channel 4	Pin 10
CT6B Channel 5	Pin 11
CT6B Channel 6	Pin 12

Installation Steps

1. Clone or download the firmware code into your Arduino environment.
2. Open the project in Arduino IDE.
3. Verify that the Servo library is installed.
4. Connect the components as per the wiring diagram.
5. Upload the code to your Arduino-compatible board.

Usage

• Initialization: Servos are initialized to their default positions (down and up limits).
• Up and Down Motion: Controlled via Channel 6 input (mapped to predefined angles).
• Rolling Motion: Controlled via Channel 4 input.
• Pitching Motion: Controlled via Channel 3 input.
• Debugging: Monitor real-time channel values in the Serial Monitor.

Configuration and Settings

• Servo angle limits are defined for each motion:
  • Upside-Down Down Position: usuDP_* variables.
  • Upside-Down Up Position: usuUP_* variables.
• Channel inputs are processed using pulseIn() for signal reading.
• Adjust the angle mapping in the map() function to match your specific servo range requirements.

Troubleshooting

• No Servo Movement:
  • Check wiring and servo connections.
  • Verify signal inputs via Serial Monitor.
• Incorrect Motion:
  • Recalibrate the angle mapping in the map() function.
  • Ensure the CT6B transmitter is properly configured.
• Signal Issues:
  • Confirm the receiver is powered and transmitting signals.

Files and Descriptions

File	Description
main.ino	Contains the primary firmware logic and setup.
Servo.h	Standard Arduino library for servo control.