# Autonomous t200 Thruster

**URL:** <https://discuss.bluerobotics.com/t/autonomous-t200-thruster/11465>\
**Category:** Blue Robotics Software\
**Created:** [February 1, 2022, 8:54pm UTC](https://discuss.bluerobotics.com/t/autonomous-t200-thruster/11465 "2022-02-01T20:54:41Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\
**Post date:** [February 2, 2022, 6:05am UTC](https://discuss.bluerobotics.com/t/autonomous-t200-thruster/11465/2 "2022-02-02T06:05:53Z")

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Hi @Andrew_King, welcome to the forum 🙂

I’ve converted your code to a code block (you can read more about that in the [Formatting a Post/Comment](https://discuss.bluerobotics.com/t/how-to-use-the-blue-robotics-forums-please-read/10521#formatting-a-postcomment-15) section of the How to Use the Forums post), but it seems like the indentation is quite inconsistent, which makes it challenging to follow the code.

From my initial glance, you’ve got a comment in your `setup` function about a “delay to allow the ESC to recognize the stopped signal”, which I assume is from our [BasicESC example code for Arduino](https://bluerobotics.com/learn/basicesc-r3-example-code-for-arduino/), but you’ve seemingly included only the comment, and not the actual `delay` call.

From the [Learn tab of the BasicESC product page](https://bluerobotics.com/store/thrusters/speed-controllers/besc30-r3/#tab-learn),

> [@BasicESC - Learn/Quick Start](#):
>
> 1. Connect the red power wire and black ground wire to a power source like a battery. With a motor connected, you will hear three beeps in rising pitch indicating all three phases are connected.
> 
> …
> 
> 1. Send a stopped signal (1500 microseconds) for a few seconds to initialize the ESC. You will hear two tones indicating initialization, and then you can send a signal from 1100-1900 µs to operate the thruster. 1500 – 1900 µs for forward thrust, 1100 – 1500 µs for reverse.

If you’re not hearing the initial three beeps when power is connected then the thruster isn’t connected properly, and if you’re not hearing the next two beeps then you’re not sending a ‘stopped’ signal properly/for long enough.

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