Compact Full frame, 2Dof with TL

Yep

Yep will do, came across another problem which may contribute.....motor wires to number got bloody hot,

Will upgrade the wiring to the motors tomorrow morning try your suggestion and report back

Thanks for your help mate, greatly appreciated!!!!

Ok will do, have upgraded the motor wiring and going to redo the pot wiring aswell and mount the control box properly to eliminate any possibility of errors there,

Also should my pwmrev match the pwmax?

And what frequency would you recommend?

Cheers

@Rav3n87 WOW!!! 3D PRINTING GENIOUS!! is the seat 3d printed as well? BRAVO SIR! BRAVO!

Thanks @noorbeast, just having a coffee and getting stuck into the last of the wiring connections and will get back to testing,

Haha cheers @Rodeo5150 if your interested in any of those projects they are from Lebois racing @Lebois

Ok sooooo here's some videos,

Seems no what I try it's crap





I'm starting to think these gearboxes are garbage and I need the 50:1 or 60:1s expensive lesson possibly but I guess shit happens,

Motor 1 on right side (sitting in sim)

Came up to level at pwm 50

Motor two was closer to 80, I believe because of a little extra weight on that side

Ok will do now...

Ok still a little wobbly and the graph shows the wobbles

Ok I'm lost haha

Here a couple more vids

https://youtube.com/shorts/xA4fVZBmVDE?feature=share

https://youtube.com/shorts/0LBTRSpyt2U?feature=share

What should I be looking for to get it to hold the center correctly? I believe that's why it won't follow the graph properly because when it come back down there's way to much "play"

Thanks for your help today btw

Yeah i thought the mechanical backlash was acceptable as well, its definitely not excessive!

That was motor 2 but both of the front motors do it exactly the same, Motor 3 (TL) probably does as well but being side to side movement it isn't noticeable at all

its like a deadzone of sorts which is weird, i can move the motor and feel a little resistance when i do it until a point it stops, if i push it down to that point it will then move with me as i let off back to where it want to be, I was just expecting it to "fight me as soon as i put any pressure on it, but its not

@Blame73

I've been reading through your build thread again haha specifically on the changes to the SMC3 code for using the Cytrons and I'm wondering if you didn't experience the same issue as me because of the gear ratio differences (25:1 vs 60:1) this would have significantly higher holding power over my 25:1's and i was curious if there was a way to up the power level around the center?

You posted a picture on Post #426 (page 22) of the issue of high power one way and low power the other and then when you modified the code for the Cytron's you have it Low/Low is there a way to up this number in the code? I think it may fix the issue if its possible to change that I'm having with a "freeplay" or Deadzone like outcome mainly around center (See above videos)

Thanks Mate


This is the part of the code I'm referring too.....

void SetOutputsMotor1() // MODE2
{
if((Feedback1 > InputClipMax1) && (PWMrev1 != 0))
{
PWMout1 = PWMrev1;
OutputPort &= ~(1 << ENApin1); // Unset Motor1 In 1
MyPWMWrite(PWMpin1, 255-PWMrev1);
//WAS ==> MyPWMWrite(PWMpin1, PWMrev1); ------------- MOD By Blame73 for Cytron MD30C
}
else if((Feedback1<InputClipMin1) && (PWMrev1 != 0))
{
PWMout1 = PWMrev1;
OutputPort |= 1 << ENApin1; // Set Motor1 In 1
MyPWMWrite(PWMpin1, 255-PWMrev1);
}
else if((Target1 > (Feedback1 + DeadZone1)) || (Target1 < (Feedback1 - DeadZone1)))
{
if (PWMout1 >= 0)
{
// Drive Motor Forward
PWMout1+=PWMoffset1;
if(PWMout1 > (PWMmax1+LiftFactor1)){PWMout1=PWMmax1+LiftFactor1;}
OutputPort |= 1 << ENApin1; // Set Motor1 In 1
MyPWMWrite(PWMpin1, PWMout1); // Motor driven when PWM=0 (unset)
//WAS ==> MyPWMWrite(PWMpin1, 255-PWMout1); // Motor driven when PWM=0 (unset) ------------- MOD By Blame73 for Cytron MD30C
}
else
{
// Drive Motor Backwards
PWMout1 = abs(PWMout1);
PWMout1+=PWMoffset1;
if(PWMout1 > PWMmax1){PWMout1=PWMmax1;}
OutputPort &= ~(1 << ENApin1); // Unset Motor1 In 1
MyPWMWrite(PWMpin1, PWMout1); // Motor driven when PWM=1 (set)
}
}
else
{
// Brake Motor
OutputPort &= ~(1 << ENApin1); // Unset Motor1 In 1
PWMout1=PWMoffset1;
MyPWMWrite(PWMpin1, 0);
}
PORTD = OutputPort;
}

@noorbeast

Had a small spot of luck maybe,

Are you able to have a look at the graph, I can't turn the kp up any higher than 60 otherwise the issue comes back,

Not really tracking the graph to well on the down stroke

Nope scratch that still total garbage, wherever it stops on the square wave test it rocks up and down, when I'm sitting in, played with settings whilst in and can't get it any better