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MRSC_Adapter_3Pin_Servo

★ 42 Open GitHub ↗

Step by step build tutorial:

// repository documentation

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# This is the Arduino MRSC (Micro Rc Stability Control) for standard 3 pin RC servos!
## Features:
- For RC cars with standard 3pin servo, ESC and receiver
- Provides about the same functionality as the Traxxas TSM stability management system
- The car tries to follow the direction, which is requested from the steering wheel. Deviations are compensated with countersteering
- I also have an Adruino RC system with fully integrated MRSC: https://github.com/TheDIYGuy999/Micro_RC_Receiver
- Version for WLtoys 5 pin servos: https://github.com/TheDIYGuy999/MRSC_Adapter_WLtoys_5Pin_Servo
- Programmable with Arduino IDE
- 2 inputs for standard 1000 - 2000us servo pulses
- The throttle signal is passed thru and used as a speed reference for the MRSC calculations (not used anymore, see below)
- Former throttle input now used as remote gain input
- The steering signal is read and used as the steering angle reference
- A new steering signal is then computed in accordance with the reading from the gyro sensor and sent to the servo
- Uses an 8MHz, 3.3V Pro Mini
- MPU-6050 gyro / accelerometer wired to the I2C pins
- Gain potentiometer
- Input for gyro direction inversion (if the MPU-6050 is mounted upside down)

## Changelog:

New in V 0.1
- Initial commit
- Works fine on the bench
- Not yet tested in a car

New in V 0.2
- Throttle input not used anymore, because it's impossible (because of the vehicle inertia) to use it as a speed reference in big vehicles
- Former throttle input now used as a remote gain input
- Wire the remote gain to CH4 and set the boolean "potentiometer1" (in the receiver configuration), if you use my "Micro RC" Arduino receiver
- The gain can then be adjusted, using the potentiometer knob on the transmitter. also works with standard 2.4GHz remotes
- Throttle output not used anymore. Wire the ESC directly to the corresponting output on your receiver
- Auto steering range calibration. You need to move the steering wheel within its entire range after powering up the vehicle!
- Variable MRSC gain: more around the center position, less towards the steering endpoints: allows to have a good stability and still be able to take sharp corners!
- Tested in a JLB Racing Cheetah with Arduino "Micro RC" remote: https://www.youtube.com/watch?v=K1FvhzmcJDw

New in V 0.3
- "Heading Hold" mode, if gain is above 85% and steering in center position
- The car tries to maintain a straight line, independent of the track condition
- Very similar with Traxxas TSM
- See video: https://www.youtube.com/watch?v=wifS67KrlOo

## Usage

See videos and pictures
- Build video: https://www.youtube.com/watch?v=s2kW7vN7KI8
- Insane JLB Racing Cheetah setup: https://www.youtube.com/watch?v=K1FvhzmcJDw

First test
![](https://github.com/TheDIYGuy999/MRSC_Adapter_3Pin_Servo/blob/master/Test_rig.jpg)

Vehicle MRSC unit
![](https://github.com/TheDIYGuy999/MRSC_Adapter_3Pin_Servo/blob/master/Top.jpg)
![](https://github.com/TheDIYGuy999/MRSC_Adapter_3Pin_Servo/blob/master/Bottom.jpg)

MRSC_Adapter_3Pin_Servo

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