• control classic 4CH RC transmitter
  • all wheels drive and steering
  • LED light



  • 6x 9g servo (TG9e, TowerPro SG90)
  • 6x 9g servo with metal gear (TGY-5009M)
  • Arduino Mega 2560
  • SBEC Lipo 5/6V 5/6A for 3S lipol
  • 3S Li-pol  about 1300mAh
  • 12x servo extension cable (10-30cm)
  • 12x resitor 2.2K ohm
  • universal PCB
  • green LED 3mm
  • red LED 3mm
  • yellow LED 3mm
  • 3x resistor 160 Ohm
  • some pins
  • 42x screw M2x6
  • 6x screw M2.5x6
  • 2x screw M3x25
  • 8x screw M3x6
  • 8x nut M3
  • 4x nut M2
  • 4x white LED 5mm
  • 4x red LED 5mm
  • RC TX and RX
  • connector to Arduino
  • cable ties
  • 3D printed parts


3D Printed Parts

I use PLA and standart setup for 3D print.

Thingiverse.com: http://www.thingiverse.com/thing:682828

Rar archive with *.stl:  RAR archive



Arduino setup

After build Rover is needed to center the servos.

Upload this file to Arduino. 

// 2 - 7 for all  steering servos
// 8 - 13 for all  wheels servos
int pin = 13;

check all servos with serial monitor for center position. My value is about 1300-1500. Value write to this file , and upload to Arduino.

// Data from calibration servos - center position of servo
int W1_center = 1350;
int W2_center = 1390;
int W3_center = 1360;
int W4_center = 1370;
int W5_center = 1435;
int W6_center = 1355;

int S1_center = 1500;
int S2_center = 1480;
int S3_center = 1420;
int S4_center = 1410;
int S5_center = 1480;
int S6_center = 1480;


Now you need center signal from RC. Connect RX to PCB and Arduino connect with PC. Control stick on TX set to neutral. Serial monitor write some values. Copy this values to Excel and make average value ( about 50 values is OK). Repeat to second channel.


//  calibration RX signal
   Serial.println( value_ch1);


//  calibration RX signal
   Serial.println( value_ch2);


Servo modifying

Servo with metal gear use to wheel. You must modifying to countinous rotating. Cut of potentiometer,  add 2 resitors, cut of pin on tooth wheel.

instruction for example: https://learn.adafruit.com/modifying-servos-for-continuous-rotation/overview


Build Arduino Shield

Sorry, I'm not electrician...

Simple scheme:  ( PDF )



Picture from build: