I have tested the main controller. The wiring is ,a bit complicated, but the following tests were conducted in the above situation.

1. PLC(Power Line Communication) availability

I checked the Ethernet communication through the 50m long wire and it works fine.

2. BLDC control

There are only two motors available at the moment, so I tested only two of them. To find out if a motor driver affects a sensitive part such as an MCU, I tried to input an excessive amount of motion, such as an excessive speed change in the motor, and it seemed to work well.

3. Additional PWM control

I tested several servo motors connected to the main board. There was no problem.

4. Complementary points

Here are some problems identified :

• When 4 ESC power is turned on, current is sucked into the capacitor connected to ESC, and voltage drop occurs. For this reason, the MCU is reset every time the ESC switch is turned on.

• ESC can be updated the firmware and settings through its pwm pin. But there was a problem that the ESC was not recognized by the computer because of the signal coming from the PWM driver.

• I am going to put voltage and current measuring devices to identify the state.