2Dof Motorcycle project help

So ive got it running. Took me a few days to get the controls all figured out but things are coming along. But im having an issue with one of my motors going passed the limits. Ive set the clip limit to the max and ive massively reduced the limits in simtools and for some reason only one side goes passed and then stays stuck there. I uploaded a video to show what’s happening. Also any tips at all willl be appreciated.
I got some 100 lb shocks to add to this project just havnt figured out where to put them yet. Also any advice on that would be appreciated.

Your video is private. Set the protection to “only with a link” or public.

I’m so embarrassed. Lol ok I fixed it

Wow sweet setup. I didn’t see you popping any wheelies though.

I noticed that your lever arms are almost vertical at times. I suspect that is overshoot and the impact of sudden moves. I had that problem for a while and then I figured out if I had a good solid hard stop at 80 or 85 degrees it was fine.

I also have limit switches but I don’t know how much they do. The for sure cut power to the motor but the motor should be going the other direction. You can set it up so you cut power in one direction.

thank you so much for your reply, so in your opinion, I should extend the arms slightly so that the lever when the bike is level is lower correct? Should I also move the mount on the lever closer to the motor farther away or keep it where it is.

This photo shows my resting position. I did more tinkering in smc3 and I noticed for some reason motor 1 (right motor in pic) when I set my clip limits the top clip limit does not work. If I move the motor to the bottom clip limit it bounces it back up as it should but if I go to top clip limit it goes past it and will not correct. I believe that’s what’s happening here. So I assume it’s either my arduino or motor IBT2. I ordered the 100A motor shield that I noticed people talking about on this forum and a new arduino just to be sure that I do this right once and for all. In your opinion should I do any of the following:
1. Should I extend the arms so that the lever on the motor is more parallel with the frame?
2. Should I move the bike forward two inches and extend the arms so that the angle on the arms is increased. (or move the motors farther back )

I thought about doing this but it will be a little difficult to move the motors as they will have to be mounted behind the frame and the frame slightly extended to acomoda-te the motors. Or I could add another one or two of those 1 inch by 2 inch tubing and move the u joint forward?


I really really appreciate all your assistance!

Ideally extend the arms. I don’t see any reason to move anything else.

I don’t think the problem that you described has anything to do with the length of the arms. So if the arms are already as long as they can get maybe wait until you fix the root electronics problem. If it’s a simple adjustment I would extend them.

Can you reproduce the issue in SMCUtils? If so then you can see where the sensor line actually is. I suspect you are relying on the mechanical position not any feedback. I had a pesky issue which would reproduce with the “motion” test. The abrupt changes in direction would trigger my error in like two minutes.

If that green line goes outside the limit the motor will shut off and you have to repower the Arduino to get it back on.

So if I move the motor to the top clip limit it won’t push back down the way the bottom one does. It just goes passed it and stays there. So it’s easy to reproduce