🤖 Arduino Nano Robot Controller with Servos, DC Motors, PCA9685 & iBUS

This project is a remote-controlled robot using an Arduino Nano, two servo motors, four DC motors, a PCA9685 servo driver, and an L298N motor driver. The robot is controlled using a FlySky FS-i6 transmitter via iBUS protocol.

🔧 Hardware Used

• Arduino Nano
• PCA9685 PWM Servo Driver
• 2x Servo Motors (MG995 or similar)
• 4x DC Motors
• L298N Motor Driver
• FlySky FS-i6 Transmitter and Receiver (iBUS compatible)
• Power supply (LiPo battery recommended)
• Jumper wires, Breadboard or PCB

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⚠️ Make sure to connect all GNDs together (Nano, L298N, PCA9685, power supply).

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📦 Library Requirements

Install the following libraries in the Arduino IDE:

• Adafruit PWM Servo Driver (for PCA9685)
• IBusBM (for iBUS receiver communication)

Use Library Manager or install via ZIP.

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🧠 Code Overview

iBUS Channels Mapping:

Channel	Function
CH1	Steering (Left/Right)
CH3	Throttle (Forward/Backward)
CH5	Servo 1 Control (SWB)
CH6	Servo 2 Control (SWC)

Servo Control:

• Servo 1 & Servo 2 are smoothly updated based on target positions (0°–180°) from the iBUS receiver.

Motor Control Logic:

cpp if (throttle > 50) // Move forward else if (throttle < -50) // Move backward else if (steering > 50) // Turn right else if (steering < -50) // Turn left else Stop();