APPENDIX AHow to setup Elevon Mixing for a Combat Robot
Setting up channel mixing can be frustrating. You enable mixing and plug everything in only to discover that the robot is not responding correctly: it backs up when you command a turn and spins to the left when you try to go forward. Where do you go from there?
This appendix describes a step-by-step process to get your differential steer robot responding correctly to a transmitter Elevon (Delta Wing) mix. This generic process places steering and throttle control on the right stick of a Mode 2 transmitter. For other stick assignments, consult the Team Run Amok Transmitter Programming Guide.

  1. Consult your radio manual and enable Elevon mixing on your transmitter. If your motor controller (ESC) has its own on-board mixing, disable it.
  2. If applicable for your radio, set both Aileron and Elevator response to 100%.
  3. Plug the left side motor controller into the channel 1 (Aileron) receiver port.
  4. Plug the right side motor controller into the channel 2 (Elevator) receiver port.

Throttle Test: power up the robot and push the right stick forward a little (forward throttle command).

  • If the robot moves forward, good! Skip down to the Turning Test.
  • If the robot moves backward, select Servo Reversing from the transmitter setup and reverse both the Elevator and Aileron channels.
  • If the robot spins to the right, reverse only the Elevator channel.
  • If the robot spins to the left, reverse only the Aileron channel.Note: if your 'bot has multiple motors on each side of the 'bot and wheels on the same side of the robot are turning in opposite directions, reverse the motor leads to the ESC for any motor(s) spinning the wrong direction.

Turning Test: move the right stick a little to the right (spin right command):

  • If the robot spins right, your basic setup is complete.
  • If the robot spins left, swap your motor controller plugs (left into Elevator, right into Aileron) and repeat the Throttle Test with ‘left’ and ‘right’ corrections reversed.

Turning response will likely be too sensitive for combat. See the sections on Dual Rates, Throttle Volume, and Exponential Response in the main section of this guide to adjust control sensitivity.