4DoF controller and code?

Well... Actually the 2 I tried first are broke, the other 2 (all 4 have been bought at the same time) work fine and moves the motors really good, I´ll buy another 2 to replace the broken ones...
The noise that the power supply makes is there but different, it only appears when you demand more power to the motors... This makes me think that the broken ones are shorted internally which heat them up and I´ll asume that the thing that made the IBT-2 to fail is putting 30kHz PWMfreq on them, as the cables I connected wrong in first place were just motor1 and motor2 not r/l en and r/l pwm

Hello, after testing with the IBT-2 that works good, I´ll give more information about what I´m trying to do, as for now it doesn´t work. My approach is a 4DoF sim with rotating motors instead of linear actuators. The design consist on 2 motors at the front and 2 in delta configuration behind, my actual problem is that the rig swings forward and I´m trying to figure out what to do to eliminate this problem, but I cant find other projects with this configuration and analyzing the qubic qs-v20 I think the rig needs a strong enough rear part to keep it from that swing, but I´m not sure enough

Finally, I Upload the first photo of the rig, it still have all problems mentioned and I'm still working on it, but for everything else is now ready to work, as it has all mounted on it. I'll upload more photos of it this month