Showroom 2DoF Alex Motion sim

Several years ago I built a simulator on ZD2838 180W/24v motors, based on arduino and bts7960 drivers. The location in relation to the mounting point of the chair is not the most successful, the stem of the motor goes down if you move the chair as far as possible to the steering wheel and sit on the edge of the chair, I turned this when I sat another person, with my parameters have never had problems.
Can not say that the motors are very responsive, or wrong settings in the SMC3.
Originally assembled the design out of wood, but my friend has designers working at the firm and they took the dimensions/location of the pedals, steering wheel from my real car with my custom settings.
After the structure was welded together, I started putting everything together little by little. The motor mounts were cut on a CNC machine.

The difficulty was finding the gearmotors. The cost of shipping the motors to order from China to Kazakhstan was almost equal to the cost of the motors themselves, so I spent a long time looking for something similar on the local market. As a result, I found windshield wipers from the bus at a reasonable price of $45 each.
The first version was assembled at home from wood, and then the construction was welded and assembled together gradually as I found the necessary components.
The seat was purchased on the aftermarket from the car, the skids remained standard.

Video of the machine cutting process:


Arduino:


bts7960:

The stickers on the motors were originally not in the best condition, visually I can read that this model ZD2838 180w/24v

Initially, for testing, I built a version with the following components:
1) HuntKey LW-6500HG power supply(the outlets are grounded)
2) Arduino UNO(340g)
3) IBT_2 bridges
4) G25 burned out electric motors(This 12VDC motor is 3" long x 1.67" Diameter. It has a 4mm diameter x 0.35" long shaft and rotates at 3100 RPM when powered with 12VDC at 0.320A (no load).
5) Hall sensor ss495a
Flashing the Arduino via XLoader (x-sim_arduino_uno_57600_by_Ale - 22.01.2013)
Connected one axis and put the magnet on the motor shaft, displacement set to 127
I wanted to use potentiometers on the hall sensors, but the working version now uses ordinary resistors.
Test Result: