Control an HK-20 ESC with arduino

I've been trying to control a brushless motor (EMAX CF2812) via ESC with arduino, but so far I've had limited sucess. I've managed to start the motor, but I can't seem to get reproducible results.

The first success I've got was by following the instructions here. From there I also got the following code:

 

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[original story: Let's Make Robots]