bluerobotics / Arduino_I2C_ESC

Arduino library for controlling I2C capable ESCs including the BlueESC

NOTICE: This project is no longer maintained.

Blue Robotics has chosen to retire this project, it is no longer maintained or supported. Bug reports and feature requests are no longer accepted. The repository has been archived and made read-only. The source is still available and can be forked, but this project may be permanently removed from GitHub in the future. For questions and further information, check out the Blue Robotics discussion forums and Gitter channel.

Arduino_I2C_ESC

I2C controlled Arduino library designed for Blue Robotics' BlueESC and other tgy compatible ESCs

Documentation

Please see the examples for normal operation. Below are the available functions used in the library.

	/* Constructor for ESC instance. Requires input of I2C address (ESC 0,1...15 is address
	 * 0x29,0x2A...0x38). Optionally accepts pole count for RPM measurements. T100 is 6 and 
	 * T200 is 7. */
	Arduino_I2C_ESC(uint8_t address, uint8_t poleCount = 6);

	/* Sends updated throttle setting for the motor. Throttle input range is 16 bit
	 * (-32767 to +32767). */
	void set(int16_t throttle);

	/* Alternate function to set throttle using standard servo pulse range (1100-1900) */
	void setPWM(int16_t pwm);

	/* The update function reads new data from the ESC. If used, this function
	 * must be called at least every 65 seconds to prevent 16-bit overflow of 
	 * the timer keeping track of RPM. Recommended to call this function at 4-10 Hz */
	void update();

	/* Returns true if the ESC is connected */
	bool isAlive();

	/* Returns voltage measured by the ESC in volts */
	float voltage();

	/* Returns current measured by the ESC in amps */
	float current();

	/* Returns temperature measured by the ESC in degree Celsius */
	float temperature();

	/* Returns RPM of the motor. Note that this measurement will be
	 * more accurate if the I2C data is read slowly. */
	int16_t rpm();

How to Set I²C Address on Blue Robotics ESC

Please see instructions here on how to change I²C address.

The default address (ESC 0) is 0x29 (41 in decimal). Each ESC after that (ESC 1, ESC 2, etc) is 0x29 + 1, 2, etc. Here is a full list of addresses for reference:

ESC #	Hex Address	Decimal Address
0	0x29	41
1	0x2A	42
2	0x2B	43
3	0x2C	44
4	0x2D	45
5	0x2E	46
6	0x2F	47
7	0x30	48
8	0x31	49
9	0x32	50
10	0x33	51
11	0x34	52
12	0x35	53
13	0x36	54
14	0x37	55
15	0x38	56

Versions

0.0.1 - Revision 1 of Arduino_I2C_ESC 1.0.0 - First official release of Arduino Library