# 2 Analog Potentiometer Joystick + 1 Arduino + 4 T100 Thrusters - Programming **URL:** \ **Category:** Thrusters and Motors\ **Created:** [January 30, 2019, 11:54pm UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184 "2019-01-30T23:54:46Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [January 30, 2019, 11:54pm UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/1 "2019-01-30T23:54:46Z")
Hi Blue Robotics Engineers, i have a team of students that have ZERO programming experience and we desperately need help programming our ROV. We are using an Arduino Uno, 4 T100 Thrusters, and 2 analog joystick Potentiometer. our design is to have one joy stick be responsible for horizontal motion and have the other joystick be responsible for vertical motion. the motor placement is just like the QGC frametype with side-by-side vertical thrusters. we checked out the example code on one of the other posts that gave the code for 3 motors but we had 0 clue on how to reprogram that to 4 motors so we are hoping if you guys can help us out. sincere regards, Mike PS im using one of my student’s account ---
**Author:** ![dheideman](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/dheideman/32/1555_2.png) [@dheideman](https://discuss.bluerobotics.com/u/dheideman)\ **Post date:** [January 31, 2019, 2:59am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/2 "2019-01-31T02:59:53Z")
Hi Mike, I assume you are referring to [this example code](https://github.com/bluerobotics/br-esc-examples/tree/master/arduino/AnalogJoystickControl). First, what kind of control are you looking for in your ROV? The simple 3-thruster ROVs targeted by that code are capable of _forward/reverse_, _up/down_, and _yaw_ control. 4-thruster ROVs with two side-by-side vertical thrusters as shown in QGC are capable of all three as well as _roll_ control, although in our experience _roll_ is not nearly as important as the other three controls. Are you looking to directly adapt the code to behave the same on your 4-thruster ROV as it would on a 3-thruster ROV (i.e. _forward/reverse_, _up/down_, and _yaw_), or do you wish to also add _roll_ control? If you just want to add the fourth thruster without adding _roll_ control, modifying the [example code](https://github.com/bluerobotics/br-esc-examples/blob/master/arduino/AnalogJoystickControl/AnalogJoystickControl.ino) is pretty straightforward. You just need the second vertical thruster to act exactly the same as the first one. Add a new servo object for your fourth thruster (for example `thrusterVertical2`), define which pin it should be on (say, pin 12), attach the servo to the pin, and then duplicate every line concerning thrusterVertical for thrusterVertical2 (i.e. `thrusterVertical2.writeMicroseconds(...);`), and the two thrusters should do the same thing. As a side note, you don’t actually need to modify the code to do this: the same PWM output can be used for both vertical thrusters. Just split the signal coming off of pin 11 and send it to both of your vertical thrusters’ ESCs. If you want to add _roll_ control, you will first need to duplicate all the lines concerning the joystick inputs (lines 42~50, 59~61) for your fourth joystick axis, then duplicate the lines that convert the raw joystick values to input commands (92~106) to calculate the `rollCommand` from your fourth joystick input. Like the above case, you will need to create a new servo object as well (I recommend differentiating them as `thrusterVerticalLeft` and `thrusterVerticalRight`). Much like the left/right thruster controls, you will need to combine the vertical and roll control inputs: ```auto thrusterVerticalLeft.writeMicroseconds(CENTER_THROTTLE+verticalCommand+rollCommand); thrusterVerticalRight.writeMicroseconds(CENTER_THROTTLE+verticalCommand-rollCommand); ``` The signs of the `rollCommand` terms don’t really matter, so long as one is positive and one is negative. If the ROV rolls the wrong way, just swap the signs. ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 1, 2019, 11:04pm UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/4 "2019-02-01T23:04:47Z")
I am looking to directly adapt the code to behave the same on my 4-thruster ROV as it would on a 3-thruster ROV (i.e. _forward/reverse_ , _up/down_ , and _yaw_ ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 2, 2019, 12:45am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/5 "2019-02-02T00:45:17Z")
how would you change ```auto int verticalCommand = map(analogRead(JS_ADC_2), // Read raw joystick value JS_CENTER_2-JS_DIR_2*JS_RANGE_2, // Joystick low value JS_CENTER_2+JS_DIR_2*JS_RANGE_2, // Joystick high value -MAX_VERTICAL_THROTTLE, // Command low value MAX_VERTICAL_THROTTLE); // Command high value ``` so that it would also include the fourth motor. which one do i change ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 2, 2019, 12:49am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/6 "2019-02-02T00:49:01Z")
@dheideman could you maybe check the code once im done. i’m really new to this ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 2, 2019, 12:56am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/7 "2019-02-02T00:56:45Z")
@dheideman should i change anything inside the parentheses or should i leave that alone? btw here is the code ```auto #include // Joystick Settings static const int JS_CENTER_0 = 511; // Analog reading at center, 0-1023 static const int JS_CENTER_1 = 511; static const int JS_CENTER_2 = 511; static const int JS_RANGE_0 = 128; // Analog range, 0-1023 static const int JS_RANGE_1 = 128; // Set to 128 for Parallax joystick static const int JS_RANGE_2 = 128; static const int JS_DIR_0 = 1; // +1 or -1 static const int JS_DIR_1 = 1; static const int JS_DIR_2 = 1; // ESC/Thruster Settings static const int MAX_FWD_REV_THROTTLE = 400; // Value between 0-400 static const int MAX_TURN_THROTTLE = 400; // Value between 0-400 static const int MAX_VERTICAL_THROTTLE = 400; // Value between 0-400 static const int CENTER_THROTTLE = 1500; // Arduino Pins static const byte JS_ADC_0 = A0; static const byte JS_ADC_1 = A1; static const byte JS_ADC_2 = A2; static const byte THRUSTER_LEFT = 9; static const byte THRUSTER_RIGHT = 10; static const byte THRUSTER_VERTICAL = 11; static const byte THRUSTER_VERTICAL2 = 12 // THIS IS ADDED // Servos Servo thrusterLeft; Servo thrusterRight; Servo thrusterVertical; Servo thrusterVertical2; // THIS IS ADDED void setup() { // Set up serial port to print inputs and outputs Serial.begin(38400); // Set up Arduino pins to send servo signals to ESCs thrusterLeft.attach(THRUSTER_LEFT); thrusterRight.attach(THRUSTER_RIGHT); thrusterVertical.attach(THRUSTER_VERTICAL); thrusterVertical2.attach(THRUSTER_VERTICAL2); // THIS IS ADDED // Set output signal to 1500 microsecond pulse (stopped command) thrusterLeft.writeMicroseconds(CENTER_THROTTLE); thrusterRight.writeMicroseconds(CENTER_THROTTLE); thrusterVertical.writeMicroseconds(CENTER_THROTTLE); thrusterVertical2.writeMicroseconds(CENTER_THROTTLE); // Delay to allow time for ESCs to initialize delay(7000); } void loop() { // Read the joysticks and use the Arduino "map" function to map the raw values // to the desired output commands. int forwardCommand = map(analogRead(JS_ADC_0), // Read raw joystick value JS_CENTER_0-JS_DIR_0*JS_RANGE_0, // Joystick low value JS_CENTER_0+JS_DIR_0*JS_RANGE_0, // Joystick high value -MAX_FWD_REV_THROTTLE, // Command low value MAX_FWD_REV_THROTTLE); // Command high value int turnCommand = map(analogRead(JS_ADC_1), // Read raw joystick value JS_CENTER_1-JS_DIR_1*JS_RANGE_1, // Joystick low value JS_CENTER_1+JS_DIR_1*JS_RANGE_1, // Joystick high value -MAX_TURN_THROTTLE, // Command low value MAX_TURN_THROTTLE); // Command high value int verticalCommand = map(analogRead(JS_ADC_2), // Read raw joystick value JS_CENTER_2-JS_DIR_2*JS_RANGE_2, // Joystick low value JS_CENTER_2+JS_DIR_2*JS_RANGE_2, // Joystick high value -MAX_VERTICAL_THROTTLE, // Command low value MAX_VERTICAL_THROTTLE); // Command high value // Combine the "stopped" command with forward, turn, and vertical and send // to the ESCs. thrusterLeft.writeMicroseconds(CENTER_THROTTLE+forwardCommand+turnCommand); thrusterRight.writeMicroseconds(CENTER_THROTTLE+forwardCommand-turnCommand); thrusterVertical.writeMicroseconds(CENTER_THROTTLE+verticalCommand); thrusterVertical2.writeMicroseconds(CENTER_THROTTLE+verticalCommand); // THIS IS ADDED // Output via serial Serial.print("Fwd: "); Serial.print(forwardCommand); Serial.print("Turn: "); Serial.print(turnCommand); Serial.print("Vert: "); Serial.print(verticalCommand); Serial.println(""); // Delay 1/10th of a second. No need to update at super fast rates. delay(100); } ``` ---
**Author:** ![dheideman](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/dheideman/32/1555_2.png) [@dheideman](https://discuss.bluerobotics.com/u/dheideman)\ **Post date:** [February 2, 2019, 1:14am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/8 "2019-02-02T01:14:59Z")
`verticalCommand` doesn’t refer to the vertical motor(s), but rather is the control input converted to a more-easily understood value inside the code. `analogRead(JS_ADC_2)` reads the voltage on pin `JS_ADC_2` (pin A2), which corresponds to the position of joystick #2. Then `map(...)` converts this voltage value, stored as a number between 0 and 1023, to a throttle value that can be used later in the code (namely for `thrusterVertical.writeMicroseconds(CENTER_THROTTLE+verticalCommand);`). The “Servos” (i.e. [`Servo thrusterVertical;`](https://github.com/bluerobotics/br-esc-examples/blob/master/arduino/AnalogJoystickControl/AnalogJoystickControl.ino#L69)) refer to the ESCs used to control the thrusters. The control signals sent out by the Arduino to servos and ESCs are identical, so we use the Servo code already in the Arduino libraries to control the ESCs/thrusters. Thus each ESC/thruster requires its own “Servo” in the code. This is why you needed to add a fourth “Servo”, i.e. `Servo thrusterVertical2`, to the code just below the line [`Servo thrusterVertical`](https://github.com/bluerobotics/br-esc-examples/blob/master/arduino/AnalogJoystickControl/AnalogJoystickControl.ino#L69). ---
**Author:** ![dheideman](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/dheideman/32/1555_2.png) [@dheideman](https://discuss.bluerobotics.com/u/dheideman)\ **Post date:** [February 2, 2019, 1:19am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/9 "2019-02-02T01:19:02Z")
@jjabraham Have you tested the code? It looks like it should work. As mentioned in my previous post, you shouldn’t need to touch anything concerning `verticalCommand`, so it looks like everything is fine. However you are missing a semicolon on the line `static const byte THRUSTER_VERTICAL2 = 12`. ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 2, 2019, 1:24am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/10 "2019-02-02T01:24:08Z")
i can’t test it on the ROV Because i left my school and i dont have access to it anymore but im sure i can access it later in the week. just as a quick clarification, should i **not** change anything in the parentheses of anything in the code ---
**Author:** ![dheideman](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/dheideman/32/1555_2.png) [@dheideman](https://discuss.bluerobotics.com/u/dheideman)\ **Post date:** [February 2, 2019, 1:32am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/11 "2019-02-02T01:32:50Z")
For driving the four thrusters the way you described, you should not change anything in the parentheses of anything currently in the code. ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 2, 2019, 1:37am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/12 "2019-02-02T01:37:49Z")
static const byte THRUSTER\_VERTICAL = 11; static const byte THRUSTER\_VERTICAL2 = 12; //ADDED CODE thrusterVertical.attach(THRUSTER\_VERTICAL); thrusterVertical2.attach(THRUSTER\_VERTICAL2); //ADDED CODE thrusterVertical.writeMicroseconds(CENTER\_THROTTLE); thrusterVertical2.writeMicroseconds(CENTER\_THROTTLE); //ADDED CODE thrusterVertical.writeMicroseconds(CENTER\_THROTTLE+verticalCommand); thrusterVertical2.writeMicroseconds(CENTER\_THROTTLE+verticalCommand); //ADDED CODE ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 2, 2019, 1:39am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/13 "2019-02-02T01:39:15Z")
@dheideman those were all the changes i made. i made these changes on line 64, 78, 83, and 112 does it look right to you? ---
**Author:** ![dheideman](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/dheideman/32/1555_2.png) [@dheideman](https://discuss.bluerobotics.com/u/dheideman)\ **Post date:** [February 2, 2019, 1:40am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/14 "2019-02-02T01:40:44Z")
It looks right to me. ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [February 2, 2019, 1:42am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/15 "2019-02-02T01:42:07Z")
THANK YOU SO MUCH!!! for all your help and patience. once i get back to school, i’ll test it out and get back to you 😀😀😀😀😀 ---
**Author:** ![spruhavashi](https://avatars.discourse-cdn.com/v4/letter/s/c77e96/32.png) [@spruhavashi](https://discuss.bluerobotics.com/u/spruhavashi)\ **Post date:** [April 6, 2019, 3:47pm UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/16 "2019-04-06T15:47:46Z")
Hello, I have been working with @jjabraham on this for a while, but there are some issues when we go to run the code. The wiring is done the same way, and everything is in the same ports indicated. However, when we turn power on, the motors beep three times to say they turned on, then they beep twice and do nothing. Then, when moving the joysticks around, the vertical motors start spinning, and one of the joysticks makes the vertical go faster. However, the vertical motors do not even turn off, and the horizontal motors do not turn on at all. Instead, they just continuously beep twice. I’m not sure what I’m doing wrong, but I would appreciate all the help I can get! Thank you so much! ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [April 8, 2019, 1:14pm UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/17 "2019-04-08T13:14:22Z")
Hello, What ESCs are you using? You should be using ours or other bl-heli ESC set up for bi-directional movement. ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [April 8, 2019, 1:33pm UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/18 "2019-04-08T13:33:32Z")
we’re using the Blue Robotics ESCs ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [April 8, 2019, 1:34pm UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/19 "2019-04-08T13:34:54Z")
Can you share your whole code with [pastebin.com](http://pastebin.com)? ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [April 10, 2019, 11:12am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/20 "2019-04-10T11:12:36Z")
``` #include // Joystick Settings static const int JS_CENTER_0 = 511; // Analog reading at center, 0-1023 static const int JS_CENTER_1 = 511; static const int JS_CENTER_2 = 511; static const int JS_RANGE_0 = 128; // Analog range, 0-1023 static const int JS_RANGE_1 = 128; // Set to 128 for Parallax joystick static const int JS_RANGE_2 = 128; static const int JS_DIR_0 = 1; // +1 or -1 static const int JS_DIR_1 = 1; static const int JS_DIR_2 = 1; // ESC/Thruster Settings static const int MAX_FWD_REV_THROTTLE = 400; // Value between 0-400 static const int MAX_TURN_THROTTLE = 400; // Value between 0-400 static const int MAX_VERTICAL_THROTTLE = 400; // Value between 0-400 static const int CENTER_THROTTLE = 1500; // Arduino Pins static const byte JS_ADC_0 = A0; static const byte JS_ADC_1 = A1; static const byte JS_ADC_2 = A2; static const byte THRUSTER_LEFT = 9; static const byte THRUSTER_RIGHT = 10; static const byte THRUSTER_VERTICAL = 11; static const byte THRUSTER_VERTICAL2 = 12; //ADDED CODE // Servos Servo thrusterLeft; Servo thrusterRight; Servo thrusterVertical; void setup() { // Set up serial port to print inputs and outputs Serial.begin(38400); // Set up Arduino pins to send servo signals to ESCs thrusterLeft.attach(THRUSTER_LEFT); thrusterRight.attach(THRUSTER_RIGHT); thrusterVertical.attach(THRUSTER_VERTICAL); thrusterVertical2.attach(THRUSTER_VERTICAL2); //ADDED CODE // Set output signal to 1500 microsecond pulse (stopped command) thrusterLeft.writeMicroseconds(CENTER_THROTTLE); thrusterRight.writeMicroseconds(CENTER_THROTTLE); thrusterVertical.writeMicroseconds(CENTER_THROTTLE); thrusterVertical2.writeMicroseconds(CENTER_THROTTLE); //ADDED CODE // Delay to allow time for ESCs to initialize delay(7000); } void loop() { // Read the joysticks and use the Arduino "map" function to map the raw values // to the desired output commands. int forwardCommand = map(analogRead(JS_ADC_0), // Read raw joystick value JS_CENTER_0-JS_DIR_0*JS_RANGE_0, // Joystick low value JS_CENTER_0+JS_DIR_0*JS_RANGE_0, // Joystick high value -MAX_FWD_REV_THROTTLE, // Command low value MAX_FWD_REV_THROTTLE); // Command high value int turnCommand = map(analogRead(JS_ADC_1), // Read raw joystick value JS_CENTER_1-JS_DIR_1*JS_RANGE_1, // Joystick low value JS_CENTER_1+JS_DIR_1*JS_RANGE_1, // Joystick high value -MAX_TURN_THROTTLE, // Command low value MAX_TURN_THROTTLE); // Command high value int verticalCommand = map(analogRead(JS_ADC_2), // Read raw joystick value JS_CENTER_2-JS_DIR_2*JS_RANGE_2, // Joystick low value JS_CENTER_2+JS_DIR_2*JS_RANGE_2, // Joystick high value -MAX_VERTICAL_THROTTLE, // Command low value MAX_VERTICAL_THROTTLE); // Command high value // Combine the "stopped" command with forward, turn, and vertical and send // to the ESCs. thrusterLeft.writeMicroseconds(CENTER_THROTTLE+forwardCommand+turnCommand); thrusterRight.writeMicroseconds(CENTER_THROTTLE+forwardCommand-turnCommand); thrusterVertical.writeMicroseconds(CENTER_THROTTLE+verticalCommand); thrusterVertical2.writeMicroseconds(CENTER_THROTTLE+verticalCommand); //ADDED CODE // Output via serial Serial.print("Fwd: "); Serial.print(forwardCommand); Serial.print("Turn: "); Serial.print(turnCommand); Serial.print("Vert: "); Serial.print(verticalCommand); Serial.println(""); // Delay 1/10th of a second. No need to update at super fast rates. delay(100); } ``` ---
**Author:** ![jjabraham](https://avatars.discourse-cdn.com/v4/letter/j/f08c70/32.png) [@jjabraham](https://discuss.bluerobotics.com/u/jjabraham)\ **Post date:** [April 10, 2019, 11:15am UTC](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184/21 "2019-04-10T11:15:35Z")
we also used the 3motor code on Github and we experienced similar problems [Next page](https://discuss.bluerobotics.com/t/2-analog-potentiometer-joystick-1-arduino-4-t100-thrusters-programming/4184.md?page=2)