Addressing the Blue Robotics T200 thrusters

This mostly follows the instructions on the BlueRobotics BlueESC Documentation but has been fixed for clarity

Using an arduino UNO (Yes, preferably an uno) load the sketch called ArduinoUSBLinker to the Arduino.

Connect the Thruster to a 12 V power supply (via the power cables, red and black).

Connect the signal cables as follows

• Black – Ground (Arduino ground and power supply ground should be the same point. Add jumpers are required)
• Yellow (or possible red, depending on the revision) to Arduino pin 2
• White and Green left floating (not connected to anything. These are the I2C lines)

Power on the thruster. It should draw approximately 0.02 A (20 mA) while idle.

Download the latest BlueESC firmware zip file here. Extract it to wherever you would like.

Using KKMulticopterTool set the following parameters:

• Set the programmer to ArduinoUSBLinker
• Select the port with your Arduino (COM## on windows)
• Set the controller to atmega 8-based brushless ESC (8kB flash)
• Under “Flashing”, click on the “File” tab and browse to the firmware file you wish to flash. Note that blueesc_id0.hex will set the I2C address as 0x29, blueesc_id16.hex is 0x39. You can math to figure out the rest.
• Click the green button in the KKMulticopter window to flash your BlueESC.

That’s it! You should be able to hook up the I2C lines to an I2C bus (and remember to ground the PWM line with the rest of the grounds) and detect the thruster on the address you set!