Tutorial SMC3 Arduino 3DOF Motor Driver and Windows Utilities

AS5600 has an operating voltage of 3.3V and from the arduino you get 5V it has no right to work.
MT6701 has an operating voltage of 3.3-5V so theoretically it should work , but first of all it requires some kind of magnet mounted on the pinion whose field is to measure , in addition it has a number of inputs I do not know if the analog output is active standard or it requires some programming of the sensor .
https://www.skytech.ir/DownLoad/File/4471_5001592712907.pdf

In general, at the beginning you can safely use ordinary potentiometers 10KOhm
https://www.youtube.com/@DMAX_DIY

ordanssela I use the AS5600 chips. All the ones I've seen on Amazon and such are configured for I2C and not analog out. For most of them it is resistor R4 that needs to be removed to enable the analog output. The ones like what I have will work off of either 3.3V or 5V without any modification, but will need to be powered off of 5V to give the correct analog output for the Arduino.


Attyla.pl there is no real problem with the SMC3 code, it does a lot of good things. If your motion simulator motors only need a Proportional control, then everything is good. If your motors need all the extra control that a full PID loop will give, then look at one of the other versions of SMC3 that people have done since several seem to have 'fixed' the code errors.
If your motors have lots of natural dampening (from driving a high ratio gearbox for example) then just a proportional control should be fine. If they tend to overshoot or can be back driven easily then you probably want the better control.

Gefahren, thank you for your reply which I think explains a bit my problems with controlling the motor with the IBT-2 bridge , when moving fast the motor overshoot of position. Interestingly this problem disappeared after replacing the controller with 100A motor controllers.
As for changing the SMC3 code I will try but it will be hard since I am completely unfamiliar with it .

There are several versions of SMC3 available where people have added functionality and in the few I looked at they seem to have fixed or improved the PID control. The biggest advantage over any code I have written is other people have already tested it verses having to find whatever new bugs I might have introduced.
https://www.xsimulator.net/community/faq/arduino-code-for-use-with-various-hardware-and-simtools.31/
Here is the link Noorbeast gave that shows all the different SMC3 versions.

Gefahren, Attyla.pl Thanks for responding, I'm dying to test the magnetic sensors, you guys are awesome.

Wow, I feel like a complete idiot right now, but I will publicly admit that I was wrong.

I completely missed that inside the PID calculations of SMC3 the variables are declared 'static' which means they retain their value between function calls and do not get reset every time. That means what I said was wrong with The CalcMotor1PID function is untrue. It is working as it should.

CalcMotor2PID and CalcMotor3PID still have those two extra lines that mess up the derivative calculation to always be zero. Also, CalcMotor3PID still has the bit shifts that reduces the effect of the Integral Term and would increase the effect of the Derivative Term if it wasn't always zero.

So, I feel that my foot has been inserted as far in my mouth as I can get it, and I apologize for being even partially wrong.

Hello, I had a strange problem when I was making it. My smc3 until and simtools initial positions are not the same. My build uses two motors that extend about 30 degrees out in the starting position. The picture is of my smc3 until the initial position, then when I open simtools, both motors will automatically deflect about 30 degrees, and there will be this mutation every time when running through 0 and 1 of the axis.
Due to forum rules I can't send pictures, so I can only describe my problem in as much detail as possible.
In the smc3until program, both of my motors run normally and smoothly, but when the axis of simtools passes through 0 and 1, there will always be a sudden change, automatically rotating through a range of 30 degrees.
I can't send pictures due to forum rules, so I'll just try to describe my problem in as much detail as possible.
In the smc3until program, both of my motors ran normally and smoothly, but there was always a sudden change when the axis of simtools passed 0 and 1, automatically turning the range of 30 degrees.

Oh, it looks like I can send pictures, the first is my smc3until initial position and the second is my simtools initial position.

Presumably due to some problems with Google Translate, I have to re-send the translated text。
Hello, I had a strange problem during production, my smc3 was not in the same initial position as simtools. My fabrication used two motors that were extended about 30 degrees from the starting position. The picture is my smc3 up to the initial position, and then when I turn on simtools, both motors automatically deflect by about 30 degrees, with this mutation every time they pass the 0 and 1 of the axis while running.

In the smc3until program, both of my motors ran normally and smoothly, but there was always a sudden change when the axis of simtools passed 0 and 1, automatically turning the range of 30 degrees.

Hello, my problem has been solved today. I have done two things, one is to update the simtools software and plug the interface tightly. After that, the initial position of simtools and smc3until is the same. Because I did both things at the same time and then tested them, I don't know what the problem is, but it has been solved.