Радиоуправление Arduino NRF24 Бесколлекторный мотор с драйвером Servo

[Ivar]

Всем привет!
Собрал радиоуправление и вроде даже работает НО не совсем, а точнее серво управляется все хорошо а вот мотор ну ни в какую....
Помогите разобраться что не так?

Tx

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

const uint64_t pipeOut = 0xE9E8F0F0E1LL;   //IMPORTANT: The same as in the receiver 0xE9E8F0F0E1LL
RF24 radio(9, 10); // select CE,CSN pin

struct Signal {
byte throttle;
byte pitch;
byte roll;
byte yaw;
};

Signal data;

void ResetData()
{
data.throttle = 127; // Motor Stop (254/2=127)| Motor Kapalı (Signal lost position)
data.pitch = 127; // Center (Signal lost position)
data.roll = 127; // Center (Signal lost position)
data.yaw = 127; // Center (Signal lost position)
}

void setup()
{
//Start everything up

radio.begin();
radio.openWritingPipe(pipeOut);
radio.stopListening(); //start the radio comunication for Transmitter
ResetData();
}

// Joystick center and its borders

int mapJoystickValues(int val, int lower, int middle, int upper, bool reverse)
{
val = constrain(val, lower, upper);
if ( val < middle )
val = map(val, lower, middle, 0, 128);
else
val = map(val, middle, upper, 128, 255);
return ( reverse ? 255 - val : val );
}

void loop()
{
// Control Stick Calibration
// Setting may be required for the correct values of the control levers.

data.throttle = mapJoystickValues( analogRead(A0), 524, 524, 1015, true );
data.roll = mapJoystickValues( analogRead(A1), 12, 524, 1020, true );      // "true" or "false" for servo direction
data.pitch = mapJoystickValues( analogRead(A2), 12, 524, 1020, true );     // "true" or "false" for servo direction
data.yaw = mapJoystickValues( analogRead(A3), 12, 524, 1020, true );       // "true" or "false" for servo direction

radio.write(&data, sizeof(Signal));
}

Rx

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

int ch_width_1 = 0;
int ch_width_2 = 0;
int ch_width_3 = 0;
int ch_width_4 = 0;

Servo ch1;
Servo ch2;
Servo ch3;
Servo ch4;

struct Signal {
byte throttle;    
byte pitch;
byte roll;
byte yaw;
};

Signal data;

const uint64_t pipeIn = 0xE9E8F0F0E1LL;
RF24 radio(9, 10);

void ResetData()
{
// Define the initial value of each data input.
// The middle position for Potentiometers. (254/2=127)
data.throttle = 127; // Motor Stop
data.pitch = 127;  // Center
data.roll = 127;   // Center
data.yaw = 127;   // Center
}

void setup()
{
  //Set the pins for each PWM signal
  ch1.attach(2);
  ch2.attach(3);
  ch3.attach(4);
  ch4.attach(5);

  //Configure the NRF24 module
  ResetData();
  radio.begin();
  radio.openReadingPipe(1,pipeIn);

  radio.startListening(); //start the radio comunication for receiver
}

unsigned long lastRecvTime = 0;

void recvData()
{
while ( radio.available() ) {
radio.read(&data, sizeof(Signal));
lastRecvTime = millis();   // receive the data
}
}

void loop()
{
recvData();
unsigned long now = millis();
if ( now - lastRecvTime > 1000 ) {
ResetData(); // Signal lost.. Reset data
}

ch_width_1 = map(data.throttle, 0, 255, 800, 2300);     // pin D2 (PWM signal)
ch_width_2 = map(data.pitch,    0, 255, 1000, 2000);     // pin D3 (PWM signal)
ch_width_3 = map(data.roll,     0, 255, 1000, 2000);     // pin D4 (PWM signal)
ch_width_4 = map(data.yaw,      0, 255, 1000, 2000);     // pin D5 (PWM signal)

// Write the PWM signal
ch1.writeMicroseconds(ch_width_1);
ch2.writeMicroseconds(ch_width_2);
ch3.writeMicroseconds(ch_width_3);
ch4.writeMicroseconds(ch_width_4);
}