Showroom 3 DOF racing sim

I appreciate your reply and would like to say I haven't been random choosing values and saying "this is what will work". I have read those those posts in the links you provided many times and have a good understanding of PID loops (even before starting this project). I got to those values after trail and error over that past 6 months or so and have admittedly changed things on the fly so as to see how a specific parameter may affect how things perform. If you see something that is totally out of whack, I definitely appreciate you or anyone questioning why that was chosen or even making recommendations.

As for the Fpwm, it was my understanding that the lower the frequency, the higher the effective torque delivery and subsequently the cooler the drivers are by reducing switching transitions. I hadn't seen in those initial guides that 25 kHz was the recommended "set it and forget" figure.

In any case, I took your advice and started from scratch again. Below is the bare bones start having added just enough PWMmax to get the motor to move:


As you can see I am back to the question I've asked before; why isn't the the target received (dark blue) not reaching the target sent (light blue)? Since I am at square one basically, is this something to do with the SMC3 code in the arduino? The reason I am hung up on this, is because I don't get much movement at all from motors 1 and 2 whereas motor 3 (the one that the received value reaches the sent) moves a noticeable amount.