DIY RC : Simple Structure Air Plane

#include "BluetoothSerial.h"

#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif

#define Brushless_Motor_PIN 25
#define SV_Motor_PIN 32
int i = 0;

BluetoothSerial SerialBT;

void setup() {
  //Bluetooth
  Serial.begin(115200);
  SerialBT.begin("ESP32test"); //Bluetooth device name
  Serial.println("The device started, now you can pair it with bluetooth!");

  //Brushlessmotor
  pinMode(Brushless_Motor_PIN, OUTPUT); //Brushless_Motor_PIN as OUTPUT
  ledcSetup(0, 1000, 8); //PWM channel is 0, Frequency 1000Hz, 8 bit(Duty with 256 levels of resolution, the value is 0-255)
  ledcAttachPin(Brushless_Motor_PIN,0); //Assign channel 0 to Brushless_Motor_PIN

  //SVmotor
  pinMode(SV_Motor_PIN, OUTPUT); //Brushless_Motor_PIN as OUTPUT
  ledcSetup(10, 50, 10);
  ledcAttachPin(SV_Motor_PIN,10); 
}

uint8_t calculate_checksum(uint8_t *data) {
  uint8_t checksum = 0;
  checksum |= 0b11000000 & data[1];
  checksum |= 0b00110000 & data[2];
  checksum |= 0b00001100 & data[3];
  checksum |= 0b00000011 & data[4];
  return checksum;
}

void loop() {
  uint8_t recv_data[6];
  if (SerialBT.available()) {
    SerialBT.readBytes(recv_data, 6);
    
    if (recv_data[0] != 'T') {
      Serial.print("Receive error!");
      return;
    }

    if (recv_data[5] != calculate_checksum(recv_data)) {
      Serial.print("Decode error!");
      return;
    }
    Serial.printf("left_x: %d, left_y: %d, right_x: %d, right_y: %d\n", recv_data[1], recv_data[2], recv_data[3], recv_data[4]);
   if((recv_data[2] < 50)&&(i < 200)){//Duty MAX About 0.5(≒124/255)
      ledcWrite(0, i++);
          if(recv_data[3] > 200){//turn left
            ledcWrite(10, 110);
            }
          if(recv_data[3] < 50){//turn left
            ledcWrite(10, 50);
          }
          if((recv_data[3] >= 50)&&(recv_data[3] <= 200)){//turn standard position
            ledcWrite(10, 80);
          }
    }  
    if((recv_data[2] > 200)&&(i >= 1)){
      ledcWrite(0, i--);
          if(recv_data[3] > 200){//turn left
            ledcWrite(10, 110);
            }
          if(recv_data[3] < 50){//turn left
            ledcWrite(10, 50);
          }
          if((recv_data[3] >= 50)&&(recv_data[3] <= 200)){//turn standard position
            ledcWrite(10, 80);
          }
    }
    else{
          if(recv_data[3] > 200){//turn left
            ledcWrite(10, 110);
            }
          if(recv_data[3] < 50){//turn left
            ledcWrite(10, 50);
          }
          if((recv_data[3] >= 50)&&(recv_data[3] <= 200)){//turn standard position
            ledcWrite(10, 80);
          }
      }
  
    Serial.printf("i:%d\n", i);
  }
  delay(20);
}

controller side source code is same with below.

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