# BlueRov2 motor control tuning

**URL:** <https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636>\
**Category:** Blue Robotics Vehicles\
**Created:** [September 19, 2021, 4:12am UTC](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636 "2021-09-19T04:12:15Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![searover2021](https://avatars.discourse-cdn.com/v4/letter/s/3ab097/32.png) [@searover2021](https://discuss.bluerobotics.com/u/searover2021)\
**Post date:** [September 19, 2021, 4:12am UTC](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636/1 "2021-09-19T04:12:15Z")

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Hi, we are having issue with robot controls. We were hoping to get motions like this: [BlueROV Setting - YouTube](https://www.youtube.com/watch?v=tcUhySrGMes&t=89s) , where the controller can control ROV to move forward/backward/sideways directly (with intuitive joystick motion). However, when we connected our ROV and ran pool test, the ROV can’t move in straight line. We calibrated the ROV (axis, inertia sensors) right after the build. But the controller joystick and motion axis seem to be incorrectly mapped. Any advice on control tuning?

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**Author:** ![Boko](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/boko/32/7241_2.png) [@Boko](https://discuss.bluerobotics.com/u/Boko)\
**Post date:** [September 19, 2021, 9:31am UTC](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636/2 "2021-09-19T09:31:58Z")

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Have you seen the software setup document?  
If not, look at the bottom part:

> **[BlueROV2 Software Setup](https://bluerobotics.com/learn/bluerov2-software-setup/)**
>
> The guide instructs you how to set up your computer and software to operate the BlueROV2 remotely operated vehicle. Includes computer setup, motor direction configuration, and joystick configuration.

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**Author:** ![searover2021](https://avatars.discourse-cdn.com/v4/letter/s/3ab097/32.png) [@searover2021](https://discuss.bluerobotics.com/u/searover2021)\
**Post date:** [September 19, 2021, 9:47pm UTC](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636/3 "2021-09-19T21:47:10Z")

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Hi Bo, yep we followed the steps in the doc.

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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:** [September 20, 2021, 4:03am UTC](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636/4 "2021-09-20T04:03:31Z")

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> [@searover2021](#):
>
> the controller joystick and motion axis seem to be incorrectly mapped. Any advice on control tuning?

Which controller are you using? Not all controllers have the same mappings, so if you’re using a non-standard one then the directions might be incorrect.

Also, have you made sure your motors are connected correctly? If they’re connected in the correct order it’s still possible that some of them have their directions reversed, so if you haven’t already I’d suggest running the motor configuration discussed in the [Configure Motor Directions](https://www.bluerobotics.com/learn/bluerov2-software-setup/#configure-motor-directions) section of the setup guide 🙂

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**Author:** ![searover2021](https://avatars.discourse-cdn.com/v4/letter/s/3ab097/32.png) [@searover2021](https://discuss.bluerobotics.com/u/searover2021)\
**Post date:** [September 21, 2021, 5:33am UTC](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636/5 "2021-09-21T05:33:59Z")

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Hi Eliot, we are using Logitech F310 Wired Gamepad Controller Console Like Layout 4 Switch D-Pad PC - Blue: [https://www.amazon.com/gp/product/B003VAHYQY/ref=ppx\_yo\_dt\_b\_search\_asin\_title?ie=UTF8&psc=1](https://www.amazon.com/gp/product/B003VAHYQY/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1), which looks like the same controller used in docs.

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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:** [September 21, 2021, 10:43am UTC](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636/6 "2021-09-21T10:43:14Z")

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> [@searover2021](#):
>
> we are using Logitech F310

Our [Software Setup Guide](https://bluerobotics.com/learn/bluerov2-software-setup#logitech-gamepad-f710-and-f310) suggests the F310 needs to have the switch on the back set to “X” - that’s probably the first thing to check 🙂