I am putting the tyres onto the tug now... A fiddly job.
I intend to do an few changes to improver the manoeuvrability in reverse. A gent on YouTube did this by scrapping the engine control and fitting 2 ESC units and new supplementary receiver. It worked well but cost quite a bit and he ended up using 2 controllers which seems a little over the top to me.
I am working on a simpler device.
My plan is to add a sort of mixer. And a second motor drive ESC equivalent. The main difficulty is that the boat does not seem to have a conventional ESC and therefore the normal 1-2 msec pulse is not accessible. So a bought rudder to throttle mixer is not going to work.
I am not too worried about going forward, the rudder is OK for that. But going backwards is a different matter and I intend to address that first.
I will make and fit a copy of the present H bridge motor drive. This is driven with a PWM F and PWM B signal- forward and back.
So now there are 2 motor controllers,nboth in then first instance driven identically.
I can sense the rudder position and intend to break that down into 3 areas, small medium and large deflection. Small will do nothing. Medium will stop one motor depending on rudder direction giving reverse while turning. Hard over will reverse one motor which means it will go forward and the model should turn without any movement. Throttle setting will be as determined by the normal controller setting so speed control is not lost.
Any comments or advice welcome.