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Tutorial SMC3 Arduino 3DOF Motor Driver and Windows Utilities

Discussion in 'SimTools compatible interfaces' started by RufusDufus, Dec 1, 2013.

Page 113 of 131
  1. noorbeast

    noorbeast VR Tassie Devil Staff Member Moderator Race Director

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    noorbeast, Mar 25, 2022
    #2241
  2. 0v3rkill

    0v3rkill Member

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    i did it with the tutorial step by step, but the max limits are hardlimited to 255 and thats only halfway is there a way to increase the max limits?
    0v3rkill, Mar 25, 2022
    #2242
  3. noorbeast

    noorbeast VR Tassie Devil Staff Member Moderator Race Director

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    As I mentioned you can gear a pot, rather than direct connect.

    Realistically lever movement over 38 degrees up or down becomes very inefficient and puts unnecessary loads on motors, can you please confirm if you have that range.
    noorbeast, Mar 25, 2022
    #2243
  4. 0v3rkill

    0v3rkill Member

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    i have adjusted the script a little and build in a small factor to convert it to 180 degree values.
    it works now :)
    • Like Like x 1
    0v3rkill, Mar 25, 2022
    #2244
  5. miaziol

    miaziol New Member

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    can you show script here? what do you change?
    miaziol, Mar 25, 2022
    #2245
  6. Rodeo5150

    Rodeo5150 ROOKIE BUT LEARNING FAST Gold Contributor

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    Are you sure that wiring diagram is right because you look at the code that's not the way it's written pwm is on number two in the diagram but the code is supposed to be on 9 enA and enB it's supposed to be two and three I don't understand how cuz my motors don't work for s*** it's going to keep spinning and spinning and spinning
    Rodeo5150, Apr 10, 2022
    #2246
  7. Larux

    Larux New Member

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    Hello. I have this problem in the compilation. How can I fix that?

    [​IMG]

    Attached Files:

    Last edited by a moderator: Apr 26, 2022
    Larux, Apr 26, 2022
    #2247
  8. noorbeast

    noorbeast VR Tassie Devil Staff Member Moderator Race Director

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    Where is the code from, what version is it and has the code been modified in any way?
    noorbeast, Apr 27, 2022
    #2248
  9. Larux

    Larux New Member

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    It is version v1.0.ino. Is there a more recent version?
    Nothing in the code has been changed
    Larux, Apr 27, 2022
    #2249
  10. Larux

    Larux New Member

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    Larux, Apr 27, 2022
    #2250
  11. Larux

    Larux New Member

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    Problem solved, I had the arduino micro board selected instead of arduino uno. That's why it didn't compile. Thank you very much too

    Attached Files:

    • Like Like x 2
    Larux, Apr 27, 2022
    #2251
  12. Joe Cortexian

    Joe Cortexian Member Gold Contributor

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    When running a motion test like sin, within a few cycles the green feedback line and the yellow motor PWM line stop updating in SMC3util. The motor continues to move as expected. Is this a common problem or is it just me?

    if I exit SMC3utils and renter it generally starts working again.
    Joe Cortexian, May 9, 2022
    #2252
  13. motiondynamics

    motiondynamics Member

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    Hi everyone, I'm stuck with the "SMCutils" tool. I don't understand if this tools is essential to use.
    I have difficulty setting only the limits CLIP, MIN, MAX ...
    In Simtools there are also the "Axis Limiting" settings, are these not enough?

    I have already tried to read many times in the following post:

    https://www.xsimulator.net/communit...3dof-motor-driver-and-windows-utilities.4957/

    but i am very confused with the values of CLIP INPUT, MAX LIMITS.

    Can you explain me how to set these two parameters?
    I have 2 types of stations: one with gearmotors and one with electric actuators, both with 10K potentiometers (infinite rotations).

    Please give me some help, thank you
    • Friendly Friendly x 1
    motiondynamics, Jul 16, 2022
    #2253
  14. noorbeast

    noorbeast VR Tassie Devil Staff Member Moderator Race Director

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    The SMC3 utility is used to properly setup and configure PID and other settings for your specific hardware, and this should be done properly and before messing with SimTools.

    The SMC3 tuning parameter explanations are all in the second SMC3 thread post: https://www.xsimulator.net/communit...driver-and-windows-utilities.4957/#post-48121

    But likely what may help is some simple foundational understanding of PID, as in the end that may help put the specific SMC3 settings into some context. While written with a different controller in mind here is a gentle introduction to PID, which also has links to more accurate and in depth descriptions, depending on how far down the rabbit hole you want to go: https://www.xsimulator.net/community/faq/a-laymans-analogy-guide-to-pids-pid-tuning.219/
    • Winner Winner x 1
    noorbeast, Jul 16, 2022
    #2254
  15. Pierre Lalancette

    Pierre Lalancette Sir Lalancelot Gold Contributor

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    This is a really old thread, but it may give you some hints on how to set up your rig.
    6 DOF from scratch
    Pierre Lalancette, Jul 16, 2022
    #2255
  16. Joe Cortexian

    Joe Cortexian Member Gold Contributor

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    The feedback analog input goes from 0-1024. So you need to be sure to adjust the pot to be close to 512 in the middle of your motion range. This is the green line on the plot which should be in the center when the rig is level.

    The values of the limit parameters are a bit confusing. The lower limit is set to the limit. The upper limit is set to 1024-limit. So as you lower the limit, the range of motion is increased. A value of 255 is the smallest range of motion.

    The clip limit is the highest value the system will accept as a target. So if you command the system to go to position 850 and the clip limit is 800 (1024 - 224) the target position is set to 800 by the Arduino.

    If the feedback value is ever outside of the limit the motor will be disabled. The system will not enable the motor while the feedback is outside the limits. This can only happen if something is wrong like a broken wire since the motor cannot be commanded outside the clip limit.
    Joe Cortexian, Jul 16, 2022
    #2256
  17. motiondynamics

    motiondynamics Member

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    OK thanks guys for your answers.
    As for the PID values, I have no problem, I have already set the following values (correct for the type of engine I use)
    P = 350
    I = 0
    D = 0

    PWMmin = 100
    PWMmax = 200

    I have correctly set the center of the potentiometers to 512, green line in the center of the visual spectrum, the motors move very well.
    My only doubt is this, I hope to explain myself well: let's suppose that in SMC3utils I set the limit CLIP = 100 and close SMC3utils. Then I open Simtools Game Engine, Axis assignments, Axis Limiting.
    The 100% value of Amount of Axis to Use will correspond to the range of values of the CLIP limit, therefore the motor arms will have a rotation range based on the parameter of SMC3utils and will not exceed the limit of
    CLIP100?
    Are the two parameters (CLIP of SMC3utils) and (Amount of Axis to Use of Simtools) independent or do they interact together?
    motiondynamics, Jul 16, 2022
    #2257
  18. noorbeast

    noorbeast VR Tassie Devil Staff Member Moderator Race Director

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    Think of the SMC3 settings as a hardware configuration/optimisation and safety limit, so if exceeded everything shuts down.

    In SimTools Axis Limiting is not really needed except as a cushion for some vulnerable hardware, such SCN actuators, which can be very fragile at their limits. For things like DC motors Axis Limiting is not needed.

    Axis Assignments, Tuning Center and Game Manager setting are all about how a possible range of motion (defined in SMC3) is allocate to various axis for a particular game (Axis Assignments), how those responds to game inputs (Tuning Center) and how a base motion profile can subsequently be tailored/varied to say dial in different types of cars for a particular track, or one type of car for different tracks (Game Manager profiles).

    What SimTools does is very different from SMC3, but each needs to be calibrated properly to do its independent but related job.
    noorbeast, Jul 16, 2022
    #2258
  19. motiondynamics

    motiondynamics Member

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    Thanks noorbeast, you are very kind and very thorough in your explanations.
    I ask you for information and a configuration advice: for the operation of the platform with gear motors (motor shafts in rotation), there are no problems if the mechanical handle exceeds 90 ° or -90 °.
    Instead, I have to configure my 4 linear actuators in the 4 corners (like the D-Box system) with a stroke of 100 mm and I have to be careful not to knock the mechanical parts in the maximum range (over 0 mm and over 100 mm).
    My actuators have no mechanical limit switches and no motor lock, so when the system is not powered the 4 actuators will go down due to the force of gravity. When I turn on Simtools the motors must not be blocked due to the "Max Limits" set in SMC3utils.
    I know that SMC3utils is able to emulate the limit switches through the values of "Clip Input"
    So I need to know what parameters I need to set to prevent the actuators from going beyond 0mm and 100mm and how I can prevent the motors from locking when the actuators are all down (no power due to gravity).

    If I have not been clear tell me that I will explain maybe with some drawings.
    Thank you
    motiondynamics, Jul 16, 2022
    #2259
  20. Joe Cortexian

    Joe Cortexian Member Gold Contributor

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    All the parameters that you set in SMC3Utils are saved to EEPROM (permanent storage) on the Arduino. So those are used in SimTools. As far as SimTools is concerned the Arduino is a black box that you send positions to.

    You should try setting the “filter length” KS. This parameter smooths the acceleration and deceleration to minimize jerk. So if you are having a rough ride this could help. This will increase the following error but a value of 4 is 1ms. I doubt you could feel 10-20 ms of following error.
    Joe Cortexian, Jul 16, 2022
    #2260
Page 113 of 131