Hobsi simulator

1. Arduino IDE and STM32 based position contrler
2. Motors DC from car wipers
3. Encoder
3.1 rotary and lineal encode type (two signals for one axis)
3.2 rotary and lineal based on variable resistor(one signal for one axis)
4 current controll logyc
4.1 Porpotional (current=kp*(targetposion-curentposition))
4.2 PID current control
5. Mechanical consrtruction is discussed

good luck with your project and would love to see some plans

for now i make this

Code:

#include <Servo.h>

#define srv1_PIN PB9
#define srv2_PIN PB8
Servo s1,s2;

bool wsp=false;
bool wsv=false;
bool wfp=false;
bool wfv=false;
bool wt=false;
bool wd=false;

bool lwsp=false;
bool lwsv=false;
bool lwfp=false;
bool lwfv=false;
bool lwt=false;
bool lwd=false;

bool sa=false;

int cnt=0;

unsigned char lrx,rxbyte,p;

void lss()
{
  lwsp=wsp;
  lwsv=wsv;
  lwfp=wfp;
  lwfv=wfv;
  lwt=wt;
  lwd=wd;
}

void cls()
{
lss();
wsp=wsv=wfp=wfv=wt=wd=false;
}


void SerialServicer()
{
if (Serial.available() > 0)
  {
    lss();
    cnt++;
  //sa=true;
    lrx=rxbyte;
  rxbyte=Serial.read();
  if(wfv || wsv)
    {
    Serial2.print(rxbyte,DEC); 
    }
  else
    {
    Serial2.write(rxbyte); 
    }
  if(wsv)
    {
      s2.write(rxbyte/1.4);
      wsv=false;
      wt=true;
    }
  if(wsp)
    {
    wsp=false;
    if(rxbyte=='S')
      {
      wsv=true;
      }
    else
      {
        wt=true;
      }
    }
    if(wfv)
    {
      s1.write(rxbyte/1.4);
      wfv=false;
      wsp=true;
    }
  if(wfp)
    {
    wfp=false;
    if(rxbyte=='A')
      {
      wfv=true;
      }
    else
      {
        wt=true;
      }
    }
  if(wd)
    {
    wd=false; 
    if(rxbyte==10)
      {
      wfp=true;
      }
    else
      {
      wt=true;
      }
    }
  if(wt && (rxbyte==13) && !wsv )
    {
      cls();//wt=false;
      wd=true;
    }
  if(wt && wsv)
      {
        wsv=false;
      }
  } 
}

void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
Serial2.begin(115200);
s1.attach(srv1_PIN);
s2.attach(srv2_PIN);
//s1.setMinimumPulse(1);
//s1.setMaximumPulse(2);
wt=true;
}

void loop() {
  // put your main code here, to run repeatedly:
  if(sa)
    {
    Serial.print(cnt,DEC);
    Serial.print(" ");
    Serial.print(lrx,DEC);
    Serial.print(" ");
    Serial.print(rxbyte,DEC);
    Serial.print(" ");
    Serial.print(lwfp);
    Serial.print(lwfv);
    Serial.print(lwsp);
    Serial.print(lwsv);
    Serial.print(lwt);
    Serial.print(lwd);
    Serial.print(" ");
    Serial.print(wfp);
    Serial.print(wfv);
    Serial.print(wsp);
    Serial.print(wsv);
    Serial.print(wt);
    Serial.println(wd);
    sa=false;
    }
 
SerialServicer();
}

DC Motor Driver an angular Fed back Regulation P(current=kp*(targetposion-curentposition)
-Problem: Very Hight Curent in revese monent, "kp" is 0.03 and curent is to smal without mehanical load.