BlueROV-2: Basic ESC Documentation: Speed Controller

http://docs.bluerobotics.com/besc/

Quick Start:

1. Connect the three motor wires to the motor. The order of connections does not matter, however, switching any two wires will change the direction of the motor. The output phases A, B, and C are completely interchangeable
2. Connect the red power wire and black ground wire to a power source like a battery. You will hear a few beeps from the ESC.
3. Connect the signal cable to your signal source like an RC radio receiver or microcontroller board. The yellow wire is the signal wire. The red wire is the battery eliminator circuit (BEC) output, which supplies 5V at 500mA to power a control system. The brown wire is ground.
4. Send a stopped signal (1500 microseconds) for a few seconds to initialize the ESC. You will hear a long tone.

 

ArduSub Open-Source Subsea Vehicle Control

http://ardusub.com/developers/#compiling

Must at the path:/Users/apple/Desktop/Underwater_Robot_Project/px4/ardusub/ArduSub

Compile:make [board type]-[frame type]

At this:make px4-v2-bluerov

Aftercompiling,upload the code to a PixHawk:

make px4-v2-bluerov-upload

The codebegins running immediately once uploaded.

ArduSub http://ardusub.comMaking a Custom Configuration

One of the biggest additions to the ArduSub code is asix degree-of-freedom motor library that allows a wide variety of motorconfigurations to be set up easily. The motors libraries for each configurationare built on a set of higher-level motor classes as follows:
AP_Motors
    |----AP_MotorsMulticopter
                   |----AP_MotorsMatrix
                                |----AP_Motors6DOF
                                           |---- AP_MotorsBlueROV
                                           |---- AP_MotorsVectoredROV
                                           |---- AP_MotorsVectored6DOF
                                           |---- AP_MotorsSimpleROV

                                           |---- AP_Motors[New configuration]

To add a new motor configuration,you will create a new frame type and implement the AP_Motors[New configuration] for the new frame configuration.