關于電調的控制信號：電調信號是pwm信號，信號頻率為50Hz，一個周期為20ms。對于電調來講，高電平脈寬為1ms表示停轉，高電平脈寬為2ms表示滿油門運轉;對于舵機來說1.5ms是歸中,1ms和2ms分別為左右滿舵。（因此下面才直接用Servo庫來給實現ESC信號的輸出）。

0.Servo.writeMicroseconds(): Writes a value in microseconds (uS) tothe servo, controlling the shaft accordingly. On a standard servo, this willset the angle of the shaft. On standard servos a parameter value of 1000 isfully counter-clockwise, 2000 is fully clockwise, and 1500 is in the middle.

1.servo.write() allows a maximum of 180 servo positions

  servo.writeMicroseconds() allows a maximum of 1000 servo positions

2.The "write" method simply maps the"degrees" to microseconds and calls the "writeMicroseconds"method anyway.

   The "degree" of turn is simply a convenientabstraction, and few bother to calibrate it.

控制程序：

1.  #include<Servo.h> // Using servo library to control ESC

2.  Servo esc; //Creating a servo class with name as esc

3.  int val; //Creating a variable val

4.  void setup()

5.  {

6.  esc.attach(9); //Specify the esc signal pin,Here as D9

7.  esc.writeMicroseconds(1000);// initialize the signal to 1000

8.  Serial.begin(9600);

9.  }

10. void loop()

11. {

12. val=analogRead(A0); // Read input from analog pin a0 and store in val

13. val= map(val, 0,1023,1000,2000); // mapping val to minimum and maximum(Change if needed)

14. Serial.println(val);

15. esc.writeMicroseconds(val);// using val as the signal to esc

16. }

補充：電調1ms停轉，2ms滿油門運轉，是指的單向電調，且是方波脈沖。而一般雙向電調，1ms反轉最大油門，1.5油門中點，2ms滿油門正轉。