{"id":824,"date":"2026-06-12T15:46:39","date_gmt":"2026-06-12T07:46:39","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/expresslrs-elrs-ugv-low-latency-long-range-arduino-farsi\/"},"modified":"2026-06-12T15:46:40","modified_gmt":"2026-06-12T07:46:40","slug":"expresslrs-elrs-ugv-low-latency-long-range-arduino-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/expresslrs-elrs-ugv-low-latency-long-range-arduino-farsi\/","title":{"rendered":"ExpressLRS (ELRS) \u0628\u0631\u0627\u06cc UGV \u2014 \u06a9\u0645\u062a\u0631\u06cc\u0646 \u062a\u0623\u062e\u06cc\u0631\u060c \u0628\u06cc\u0634\u062a\u0631\u06cc\u0646 \u0628\u0631\u062f \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nExpressLRS ELRS UGV \u06a9\u0646\u062a\u0631\u0644 \u062a\u0623\u062e\u06cc\u0631 \u06a9\u0645 \u0628\u0631\u062f \u0628\u0644\u0646\u062f\n<\/div>\n
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ExpressLRS \u0686\u06cc\u0633\u062a \u0648 \u0686\u0631\u0627 \u0627\u0632 Futaba \u06cc\u0627 FrSky \u0628\u0647\u062a\u0631 \u0627\u0633\u062a\u061f<\/h2>\n

ExpressLRS (ELRS)<\/strong> \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 RC \u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u0627\u0633\u062a \u06a9\u0647 \u0631\u0648\u06cc \u0645\u0627\u0698\u0648\u0644\u200c\u0647\u0627\u06cc SX1276\/SX1280 \u0627\u062c\u0631\u0627 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0628\u0627 \u062a\u0623\u062e\u06cc\u0631 \u06a9\u0645\u062a\u0631 \u0627\u0632 \u06f1\u06f0ms \u0648 \u0628\u0631\u062f \u0628\u0627\u0644\u0627\u06cc \u06f1\u06f0\u2013\u06f3\u06f0km \u062f\u0631 \u0628\u0631\u062e\u06cc \u062d\u0627\u0644\u062a\u200c\u0647\u0627\u060c \u0627\u0632 \u0627\u06a9\u062b\u0631 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u062a\u062c\u0627\u0631\u06cc \u067e\u06cc\u0634\u06cc \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f. \u06a9\u0627\u0645\u0644\u0627\u064b \u0631\u0627\u06cc\u06af\u0627\u0646 \u0648 \u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u0627\u0633\u062a \u2014 \u0641\u0631\u06cc\u0645\u0648\u0631 \u0631\u0627 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc \u062e\u0648\u062f\u062a compile \u06a9\u0646\u06cc.<\/p>\n

\u0628\u0631\u0627\u06cc UGV\u060c \u06af\u06cc\u0631\u0646\u062f\u0647 ELRS \u06cc\u06a9 \u067e\u0631\u0648\u062a\u06a9\u0644 \u0633\u0631\u06cc\u0627\u0644 (CRSF<\/strong> \u06cc\u0627 SBUS<\/strong>) \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0645\u06cc\u200c\u062f\u0647\u062f \u06a9\u0647 \u06a9\u0627\u0646\u0627\u0644\u200c\u0647\u0627\u06cc \u0641\u0631\u0645\u0627\u0646 \u0631\u0627 \u0645\u06cc\u200c\u062e\u0648\u0627\u0646\u06cc. \u0647\u06cc\u0686 \u0646\u06cc\u0627\u0632\u06cc \u0628\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u062c\u062f\u0627\u06af\u0627\u0646\u0647 \u0628\u0631\u0627\u06cc \u0641\u0631\u0633\u062a\u0646\u062f\u0647 \u0646\u06cc\u0633\u062a \u2014 \u0631\u0627\u062f\u06cc\u0648 \u062f\u0633\u062a\u06cc RadioMaster TX16S \u06cc\u0627 Happymodel ELRS \u0641\u0631\u0633\u062a\u0646\u062f\u0647 \u0634\u0645\u0627 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u0641\u0631\u0633\u062a\u0646\u062f\u0647<\/td>\nRadioMaster TX12\/TX16S \u0628\u0627 \u0645\u0627\u0698\u0648\u0644 ELRS (~\u06f3M) \u06cc\u0627 Happymodel ES24TX (~\u06f5\u06f0\u06f0K)<\/td>\n<\/tr>\n
\u06af\u06cc\u0631\u0646\u062f\u0647<\/td>\nHappymodel EP1 Nano 2.4GHz (~\u06f1\u06f5\u06f0K)<\/td>\n<\/tr>\n
\u062a\u0623\u062e\u06cc\u0631<\/td>\n~\u06f1\u06f0ms @ 500Hz packet rate<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u062e\u0648\u0627\u0646\u062f\u0646 \u06a9\u0627\u0646\u0627\u0644\u200c\u0647\u0627\u06cc CRSF \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/h2>\n
\/\/ \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647: CrsfSerial (GitHub: CapnBry)\n#include \"CrsfSerial.h\"\n\n\/\/ CRSF \u0627\u0632 \u06af\u06cc\u0631\u0646\u062f\u0647 ELRS \u0631\u0648\u06cc Serial1 (Arduino Mega\/Due)\nCrsfSerial crsf(Serial1, 420000);  \/\/ \u0628\u0648\u062f\u0631\u06cc\u062a CRSF = 420000\n\nvoid packetChannels(){\n  \/\/ \u06a9\u0627\u0646\u0627\u0644\u200c\u0647\u0627 \u06f1\u06f7\u06f2 (min) \u062a\u0627 \u06f1\u06f8\u06f1\u06f1 (max)\u060c \u0648\u0633\u0637 = \u06f9\u06f9\u06f2\n  int ch1 = crsf.getChannel(1);  \/\/ Throttle\n  int ch2 = crsf.getChannel(2);  \/\/ Yaw\/Steering\n  int ch3 = crsf.getChannel(3);  \/\/ Pitch (\u0627\u0636\u0627\u0641\u06cc)\n  int ch5 = crsf.getChannel(5);  \/\/ Arm switch\n\n  \/\/ \u062a\u0628\u062f\u06cc\u0644 \u0628\u0647 \u0645\u0642\u0627\u062f\u06cc\u0631 UGV\n  int throttle = map(ch1, 172, 1811, -255, 255);\n  int steering = map(ch2, 172, 1811, -100, 100);\n  bool armed   = (ch5 > 992);\n\n  if(armed){\n    applyDrive(throttle, steering);\n  } else {\n    stopMotors();\n  }\n}\n\nvoid setup(){\n  Serial1.begin(420000);\n  crsf.onPacketChannels = &packetChannels;\n}\n\nvoid loop(){\n  crsf.loop();\n}<\/code><\/pre>\n
\u062e\u0648\u0627\u0646\u062f\u0646 SBUS (\u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 CRSF)<\/h2>\n
\/\/ \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647: SBUS (GitHub: bolderflight)\n#include \"sbus.h\"\nbfs::SbusRx sbus(&Serial2);\nbfs::SbusData data;\n\nvoid setup(){\n  Serial2.begin(100000, SERIAL_8E2);  \/\/ SBUS: 100K baud, Even parity, 2 stop bits\n}\n\nvoid loop(){\n  if(sbus.Read()){\n    data = sbus.data();\n    if(!data.failsafe && !data.lost_frame){\n      int thr = map(data.ch[0], 172,1811,-255,255);\n      int str = map(data.ch[1], 172,1811,-100,100);\n      applyDrive(thr, str);\n    } else {\n      stopMotors();  \/\/ Failsafe\n    }\n  }\n}<\/code><\/pre>\n
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