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Arduino rov control code

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Project Description

Hi i'm looking for someone to create this arduino code for my rov project

arduino number 1 receives signals from ps2 controller on pins 13, 12, 11 and 10. once the signals from the ps2 controller have been decoded they need to be sent by serial to arduino number 2 which takes the signals so it can control 3 esc's (on pins 11, 10 and 9), 1 servo (on pin 6) and 7 relays (on pins 13, 12, 8, 7, 4, 3 and 2) (relays will be controlled with transistors).

Arduino number 2 also sends signals from a lm35 on pin 0, a hm6352 on the i2c pins 4 and 5 and signals from a voltage + current sensor on pins 0 and 1 which all need to be sent to arduino number 1 then onto a video overlay board as well as the signals from the current + voltage sensor.

esc's 1 and 2 will be forwarded by pushing the right joystick forward
esc's 1 and 2 will be reversed by pushing the right joystick backward
esc 1 will be forwarded by pushing the right joystick left
esc 2 will be forwarded by pushing the right joystick right
esc 3 will be forwarded by pushing the left joystick forward
esc 3 will be reversed by pushing the left joystick backward
servo 1 will go left by pushing the left joystick left
servo 1 will go right by pushing the left joystick right

relay 1 will be turned on when l1 is pressed and turned off when released
relay 2 will be turned on when r1 is pressed and turned off when released
relay 3 will be turned on when r2 is pressed and pressing r2 again will turn it off
relay 4 will be turned on when triangle is pressed
relay 5 will be turned on when circle is pressed
relay 6 will be turned on when X is pressed
relay 7 will be turned on when square is pressed
relay's 4-7 when one of them is pressed it will turn off the previous one off so that there is only one on at a time (otherwise there would be a short-circuit)

all the readings from the sensors will be sent to the video overlay board

i will be using this to change the serial so that it can be sent over long distances: [url removed, login to view]:MESINDXX:IT&_trksid=[url removed, login to view]

voltage + current sensor: [url removed, login to view]
compass: [url removed, login to view]
temperature sensor: [url removed, login to view]
esc: [url removed, login to view]
video overlay board: [url removed, login to view]

i will be using the arduino uno for this setup

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