The in progress, Brig seat 1.3....

But they are still DC brushed motors so you can swap the wires.
Should be easy to swap it at the terminals at the Sabertooth.

I'm going by memory and its been a while since Ive used them.
But I thought the direction the kangaroo seeks the home limit switch is fixed on power up.
So switching the DC polarity will get it to head in the direction you want on power up.

I dont recall sending any serial commmands that force the seek direction one way or another. I dont think this is settable. But Im not sure on this.

I do take your point that maybe nothing had changed since you last had it working but this is the only thing I can think of at the moment.

Thanks Jad. It's very strange. I had changed the polarity to reverse directions on the motors on my first rig. That's when I found out you can't do that. Not sure why. I can reverse directions with the Sabertooth, but then when I get to the FlyPT it would be reversed. I think I'll reload YAT to see if that puts things back to normal.

I looked back on my past setup using one limit switch.
Maybe the bottom option has something to do with seek direction for home on power up.
I dont have it setup so I cant test it.

I have DEScribe working in the proper direction and to the correct limit switches. It's when I run Yat it starts in the opposite direction to the other limit switch. I had DEScribe, Yat and FlyPT all going in the same direction to the same limit switch when I left it a few months a ago, and I haven't changed anything in Yat. I need Yat to work in the same direction as DEScribe, so I can start FlyPT.

Can you post a picture of the commands you are sending with YAT

This is what I use to test and center the actuators for running FlyPT. Worked perfectly till a couple of days ago.

OK, theres mothing there that affects the homing direction.
I can only think of testing the wiring by changing polarity. Have you tried that yet?

Just tried changing polarity. No luck.
It switched direction, then shuts down. E3
Contacted the YAT developer. No luck there either. Says YAT2.4 is coming out soon!
I guess I'll retune with the direction reversed on the sabertooths

It switched direction, then shuts down. E3

I thought switch direction is what you were after?
Is it shutting down after homing? Or do you mean powering down?
Im not familiar with the E3

I dont think you can send a home command, and then a fraction of a second later send a powerdown command. It either ignores the powerdown command while it is in the middle of homing, or it immediatley cancels homing and shuts down. I cant remember which way it behaves. I think it its the former.

I think you should remove the powerdown command anyway. What would be the use case for having a powerdown immediatley after homing?
Powerdown means it cuts power to the motor which may mean the rig drops to the ground, but it will still keep count of the encoder, so it will not need homing again, and the next time it receives a position command, it will power up and go there and hold there. But if your homing, why not let it hold there at the home position instead of dropping?

I also want to clarify your understanding of YAT. The developer of YAT will have no clue about what is on the receiving end such as kangaroo. We are using YAT to send typed commands to the kangaroo that the kangaroo is built to expect. YAT is just dumbly sending out bits and bytes in a format that only the Kangaroo is going to understand. If the kangaroo does somthing unexpected, it is only due to what we typed into the text lines that YAT is sending.

From the picture you sent, there is only 3 commands sent to the kangaroo, and none of these will affect homing directions. So the issue with direction can only be settings made with DEScribe and/or wiring changes to the motor or limit switchs or the AB encoder wires.

When in DEScribe, you can use the pretune tab and check the directions of the motor, and see the L1 and L2 switches activating, and see the encoder count incrementing in the proper direction. If this is the same for all 6, then it should all behave in the same directions when homing and sending position commands.

I'm hanging around home this xmas break so I can setup my old system on the bench and try to work through it with you that way. But it will be in a week or two before I get there.

good job,innovative

When I send the command to home, it feels like it goes full tilt for a second and it shutdown then I get E3 [Control error, channel disabled. Check to make sure your feedback sources are working and the system matches how it was set up during the tune]
is the error code on the Kangaroo, 3 flashes.
I send the powerdown command just to stop power with YAT.
I'm sending Start, Home and Powerdown seperatly.
I'm going to try to tune in the other direction, and hope it still reverses in YAT. Could be an easy work around. Switching L1 and L2 didn't work either. Don't spend anymore time on this, let me see what I can figure out on this end. Thanks again.

This is a smart design. Good luck with that polarity issue, these things are pretty complicated sometimes.

I have the polarity sorted out. I just tuned it in reverse in sabertooth settings. Then when it switched directions with YAT and FlyPT, the setting are correct. Still have the cogging issue after shielding the cables though. : (
I'll try to get a video in the next day or two of the FlyPT movement.

Ok I’ll be watching for the video. What do you mean by “cogging“?

When the actuator is slowing down the motor hunts to keep up shaking the rig. you can notice it in this video.

I have never encountered that before with my own sim. Have you sorted out everything in SMC3 or whatever application you are using for the PID tuning?