RC Kontrollü Balıkçı Gemisi, a Arduino project

Build a remote-controlled fishing boat powered by dual brushed DC motors and controlled via a 2.4 GHz FlySky RC transmitter. This project combines an Arduino Uno with two reversible motor controllers, a high-torque servo for rudder control, and an 11.1 V LiPo battery to create a fully functional RC vessel capable of forward, reverse, and turning maneuvers.

This guide provides a complete wiring diagram, parts list, and Arduino firmware that handles RC signal processing, motor control, and failsafe mechanisms. Follow the assembly steps to mount the motors and propeller shafts, connect the battery and fuse holder, wire the ESCs and servo, and perform safe initial startup procedures to get your boat on the water.

Wiring diagram

Gather all the parts

Qty	Component
1	MG92B Micro Servo (Metal Gear, High Torque) TowerPro MG92B metal-gear micro servo delivering 3.1-3.5 kg-cm stall torque (5.0-6.6V) with ~180 deg of travel - noticeably stronger than standard 9g plastic-gear micro servos like the SG90/SG92R, while staying compact for robotics and RC builds that need extra torque in a small footprint.
1	FlySky FS-iA6B 2.4 GHz RC Receiver The radio receiver that turns the transmitter stick movements into steering and throttle signals for the boat.
1	3S 11.1 V 5000 mAh 30C LiPo Battery 11.1 V, 5000 mAh, ≥30C Rechargeable high-current battery pack that supplies the two propulsion motors.
1	60 A DC Blade Fuse and Holder 60 A Inline safety fuse that disconnects the battery if a motor cable or controller develops a short circuit.
1	40 A Reversible Brushed DC ESC with 5 V BEC 40 A, 2–3S, reversible High-current electronic speed controller that drives the port brushed motor forward or reverse from a radio-style control signal.
1	40 A Reversible Brushed DC ESC 40 A, 2–3S, reversible High-current electronic speed controller that drives the starboard brushed motor forward or reverse from a radio-style control signal.
1	RS775 12 V 10000 RPM Brushed DC Motor 12 V, 10000 RPM Large brushed DC motor that turns the port-side propeller.
1	RS775 12 V 10000 RPM Brushed DC Motor 12 V, 10000 RPM Large brushed DC motor that turns the starboard-side propeller.

Assemble it in 5 steps

1. İki motoru ve pervane millerini yerleştirin

port_rs775 motorunu teknenin sol arkasına, starboard_rs775 motorunu sağ arkasına sağlam motor yataklarıyla takın. Her motorun D-şaftına uygun kaplinle kendi pervane milini bağlayın; pervaneleri en son takın.

İki şaft gövde içinden su almadan çıkmalı; şaft contalarını ve gresini kontrol edin.
Motorları yalnızca ince plastik yüzeye vidalamayın; yüksek tork titreşimle motor yatağını kırabilir.

2. Ana batarya ve sigortayı bağlayın

battery_3s BAT+ ucunu main_fuse IN ucuna bağlayın. main_fuse OUT ucundan iki ayrı kalın kabloyla port_esc BAT+ ve starboard_esc BAT+ uçlarına gidin. battery_3s BAT- ucunu iki ayrı kalın kabloyla her iki ESC'nin BAT- ucuna bağlayın (güç).

Batarya bağlantısını en son yapın ve sigortayı bataryaya mümkün olduğunca yakın yerleştirin.
Kısa devre LiPo bataryayı, kabloları ve tekneyi hızla ısıtabilir; açıkta metal bağlantı bırakmayın.

3. Motor denetleyicilerini motorlara bağlayın

port_esc MOTOR+ ucunu port_rs775 M+ ucuna, port_esc MOTOR- ucunu port_rs775 M- ucuna bağlayın. starboard_esc MOTOR+ ucunu starboard_rs775 M+ ucuna, starboard_esc MOTOR- ucunu starboard_rs775 M- ucuna bağlayın (motor gücü).

İlk kuru testte gaz yönü tersse, o motora giden iki kalın kabloyu kendi arasında yer değiştirin.
Pervaneler takılıyken masa üzerinde test yapmayın; yüksek hızlı pervane yaralanmaya neden olabilir.

4. Arduino, alıcı ve dümeni bağlayın

rc_receiver CH1 → Arduino D2 (dümen sinyali), rc_receiver CH2 → Arduino D3 (gaz sinyali), rudder_servo SIGNAL → Arduino D10 (dümen komutu), port_esc PWM → Arduino D9 (sol motor komutu), starboard_esc PWM → Arduino D11 (sağ motor komutu). port_esc BEC 5V → Arduino 5V, rc_receiver B/VCC ve rudder_servo VCC (güç); her GND ucu → ortak GND (toprak).

starboard_esc üzerindeki kırmızı BEC 5V teli bağlanmayacak: ucunu ayrı ayrı ısı ile daralan makaronla kapatın. Siyah/kahverengi GND teli bağlı kalır.
İki ESC'nin 5 V BEC çıkışını birbirine bağlamayın; iki güç kaynağı birbirini zorlayıp alıcıya veya Arduino'ya zarar verebilir.

5. Güvenli ilk çalıştırmayı yapın

Pervaneler sökülüyken vericiyi açın ve gaz kolunu tam ortaya alın. Arduino'yu USB ile bağlayın, Schematik'te Deploy düğmesine basın, sonra bataryayı bağlayın. Dümen hareketini ve iki motorun yönünü kısa süreli test edin.

Tekneyi sehpa üzerinde sabitleyin; gaz ortadaysa iki motor da durmalıdır.
LiPo bataryayı yalnızca 3S denge şarj cihazıyla şarj edin ve şarj sırasında gözetimsiz bırakmayın.

Review all connections

1. Connections between "battery_3s" and "Arduino"

Function	battery_3s	Arduino
`power`	BAT+ → 60 A DC Blade Fuse and Holder IN	EXT
`ground`	BAT- → 40 A Reversible Brushed DC ESC with 5 V BEC BAT-	EXT
`ground`	BAT- → 40 A Reversible Brushed DC ESC BAT-	EXT

2. Connections between "main_fuse" and "Arduino"

Function	main_fuse	Arduino
`power`	OUT → 40 A Reversible Brushed DC ESC with 5 V BEC BAT+	EXT
`power`	OUT → 40 A Reversible Brushed DC ESC BAT+	EXT

3. Connections between "port_esc" and "Arduino"

Function	port_esc	Arduino
`power`	MOTOR+ → RS775 12 V 10000 RPM Brushed DC Motor M+	EXT
`ground`	MOTOR- → RS775 12 V 10000 RPM Brushed DC Motor M-	EXT
`pwm`	PWM	GPIO 9
`power`	BEC 5V	5V
`ground`	BEC GND	GND

4. Connections between "starboard_esc" and "Arduino"

Function	starboard_esc	Arduino
`power`	MOTOR+ → RS775 12 V 10000 RPM Brushed DC Motor M+	EXT
`ground`	MOTOR- → RS775 12 V 10000 RPM Brushed DC Motor M-	EXT
`pwm`	PWM	GPIO 11
`ground`	BEC GND	GND

5. Connections between "rudder_servo" and "Arduino"

Function	rudder_servo	Arduino
`power`	VCC	5V
`ground`	GND	GND
`digital`	SIGNAL	GPIO 10

6. Connections between "rc_receiver" and "Arduino"

Function	rc_receiver	Arduino
`power`	B/VCC	5V
`ground`	GND	GND
`digital`	CH1	GPIO 2
`digital`	CH2	GPIO 3

Deploy the firmware

main.cppOpen in Schematik

#include <Arduino.h>
#include <Servo.h>

const uint8_t RC_STEER_PIN = 2;
const uint8_t RC_THROTTLE_PIN = 3;
const uint8_t PORT_ESC_PIN = 9;
const uint8_t STARBOARD_ESC_PIN = 11;
const uint8_t RUDDER_SERVO_PIN = 10;

const uint16_t PULSE_MIN_US = 1000;
const uint16_t PULSE_CENTER_US = 1500;
const uint16_t PULSE_MAX_US = 2000;
const uint16_t PULSE_VALID_LOW_US = 900;
const uint16_t PULSE_VALID_HIGH_US = 2100;
const uint32_t PULSE_TIMEOUT_US = 25000;
const uint32_t SIGNAL_LOSS_MS = 150;

Servo portEsc;
Servo starboardEsc;
Servo rudder;
uint16_t lastThrottleUs = PULSE_CENTER_US;
uint16_t lastSteeringUs = PULSE_CENTER_US;
uint32_t lastGoodSignalMs = 0;

bool validRcPulse(uint32_t pulse) {
  return pulse >= PULSE_VALID_LOW_US && pulse <= PULSE_VALID_HIGH_US;
}

uint16_t clampPulse(uint32_t pulse) {
  return (uint16_t)constrain((long)pulse, PULSE_MIN_US, PULSE_MAX_US);
}

void stopBoatAndCenterRudder() {
  // Reversible brushed ESCs use the centre pulse as stop.
  portEsc.writeMicroseconds(PULSE_CENTER_US);
  starboardEsc.writeMicroseconds(PULSE_CENTER_US);
  rudder.writeMicroseconds(PULSE_CENTER_US);
  lastThrottleUs = PULSE_CENTER_US;
  lastSteeringUs = PULSE_CENTER_US;
}

void setup() {
  pinMode(LED_BUILTIN, OUTPUT);
  pinMode(RC_STEER_PIN, INPUT);
  pinMode(RC_THROTTLE_PIN, INPUT);

  portEsc.attach(PORT_ESC_PIN, PULSE_MIN_US, PULSE_MAX_US);
  starboardEsc.attach(STARBOARD_ESC_PIN, PULSE_MIN_US, PULSE_MAX_US);
  rudder.attach(RUDDER_SERVO_PIN, PULSE_MIN_US, PULSE_MAX_US);
  stopBoatAndCenterRudder();

  // Keep throttle at stop while the ESC starts and arms.
  delay(3000);
  lastGoodSignalMs = millis();
}

void loop() {
  const uint32_t steeringPulse = pulseIn(RC_STEER_PIN, HIGH, PULSE_TIMEOUT_US);
  const uint32_t throttlePulse = pulseIn(RC_THROTTLE_PIN, HIGH, PULSE_TIMEOUT_US);

  if (validRcPulse(steeringPulse) && validRcPulse(throttlePulse)) {
    lastGoodSignalMs = millis();
    const uint16_t requestedSteering = clampPulse(steeringPulse);
    const uint16_t requestedThrottle = clampPulse(throttlePulse);

    // Do not keep rewriting the outputs when the sticks have not moved.
    if (abs((int)requestedSteering - (int)lastSteeringUs) >= 2) {
      rudder.writeMicroseconds(requestedSteering);
      lastSteeringUs = requestedSteering;
    }
    if (abs((int)requestedThrottle - (int)lastThrottleUs) >= 2) {
      portEsc.writeMicroseconds(requestedThrottle);
      starboardEsc.writeMicroseconds(requestedThrottle);
      lastThrottleUs = requestedThrottle;
    }
    digitalWrite(LED_BUILTIN, HIGH);
  } else if (millis() - lastGoodSignalMs > SIGNAL_LOSS_MS) {
    // Lost radio signal: remove propulsion and put the rudder straight ahead.
    stopBoatAndCenterRudder();
    digitalWrite(LED_BUILTIN, LOW);
  }

  delay(2);
}