In the system, separate ESCs are used for each thruster

Blue Robotics Products
2

Hi @ugurdemirezen, welcome to the forum :slight_smile:

Unidirectional ESCs aren’t expected to work with our normal ArduSub firmware, because it expects bidirectional ESCs and sets the ‘zero throttle’ point accordingly (1500us PWM pulse duration, which is at 50% throttle for unidirectional ESCs). If by “there was a short circuit in the system” you mean “all the thrusters started going and wouldn’t stop” then that’s likely the issue you’re running into there.

Assuming you’re using our T200 thrusters, note that they’re only rated to 20V. It’s possible to run them at higher voltages, but not recommended.