2DOF heavy wiper motors 24V

Hi,
here I will document my project to my 2DOF platform piece by piece.

The platform should be strong enough to move the whole frame.
Therefore my choice was a 24V wiper motor for big buses.
I found it at the company VALEO. (ca. 160€ each)

Hi, thanks for sharing.
Do you have the characteristics and the reference of your electric motors?

... and here's the first test setup.
The gears are 3D printed.
Since the potentiometers need nearly 360°, but the levers only 180°, I translated the movement 1:2.
The potentiometer gear wheel can be fine-adjusted via the shaft to determine the exact zero point.

The connections on the potentiometer:
Potentiometer1: UC -> A0, CW -> 5V, CWW -> ground
Potentiometer2: UC -> A1, CW -> ground, CWW -> 5V

As Arduino software I use on SMC3-SPS from RufusDufus and BlazinH
see here: https://www.xsimulator.net/communit...ial-pid-motor-driver-sketch-w-softstart.9277/

For whatever reason, I had to make changes to the Arduino code.
Reading the ports A0 and A1 only resulted in the value 14.
So I created my own variables and assigned them the value of A0 and A1.
This looks as follows:
//Feedback1 = analogRead(FeedbackPin1); //disable this (in line 1856)
analogPin0val0 = analogRead(analogPin0); //read A0 off
Feedback1 = analogPin0val0; // set the value to Feedback1

The same for Feedback2 (in line 1870)

Remember to initialize the variables at the top of the code.
int analogPin0val0 = 0;
int analogPin0val1 = 0;
int analogPin0 = A0;
int analogPin1 = A1;

So the Arduino worked.

I wrote this Arduino code to check if the potentiometers run the right way around and are connected correctly

Here the first attempt in the test setup:

These are my settings for the SimTools:
To start: [A<128>][B<128>][C<128>]
Interface Output: [A<Axis1a>][B<Axis2a>][C<Axis3a>]
On exit: [A<128>][B<128>][C<128>]

When starting and stopping, the motors move to the zero position.

If you suddenly have problems with the Sabertooth or the motors not working, it may be that the feedback potentiometers are running outside the MaxLimits.
You can easily check this with the SMC3.
The green line must be between the two red lines.