The beginning of the path 2dof.

Hello friends! My name is Artyom, I'm from Russia! For a long time, the idea of building a mobile platform was hidden, and my hands itched very much)))) first, I watched several videos on YouTube on creating 2dof on wiper motors, the idea seemed interesting to me. Then it was very interesting to delve into this process and I came to this forum! I am very glad that I was here!

I know it won't be easy, but there's no turning back! I have ordered all the necessary components, much more is on the way

I couldn't sleep yesterday and I slowly decided to start. I have 24v250vat wheelchair motors (not new),1 24v 250vat power supply,a bts7960 motor driver, a potentiometer for the test, since in the future I will use a 360 degree hall sensor,a pair of printed circuit boards for soldering. The first thing I want to achieve is to make the motor turn.

That's what I got!

I know that my arduino board is working properly, I have already used it in the past. now I need to record an smc3 sketch, I think there shouldn't be a problem with that!

hello! please tell me if I use a belt drive and pulleys of 60 and 30 teeth, will this fix the situation or should I prepare to buy more 180 degree sensors?

what problems can I face using a 360 degree hall sensor so that I immediately understand that they will have to be replaced?

thank you for the information, as soon as I get home I will definitely get acquainted with your link!

I programmed the arduino.I installed smc and everything worked out!

Hurray!!! I did everything as indicated in the instructions and the engine came to life! now it remains to wait for the package to arrive in which the hall sensors, belt drive pulleys, they will be any day now! I have already printed out the hall sensor mounts to the motor from a friend on a printer... I'm waiting for the rest. but I am already glad of a small success!

Is this a clone of the hall sensor "potentiometer" commonly used here? Looks interesting. Could you please post a part number? AliExpress links are not ideal because they become broken after a while or are not accessible from all countries.

See what's on AliExpress! Rotary Hall angle Sensor | 0-360 degrees | Full circle without dead angle | Magnetism | Art is a novelty for 1,457 rubles - already with a discount of -20%
https://sl.aliexpress.ru/p?key=2Zlirci

while I'm in standby mode, I continue to study the necessary components, read articles here... there was one question regarding power protection... Do I need a diode to protect the power supply? just in case, I have already ordered kbpc5010 from the diagram in the photo! What do you say, do I need it?

See what's on AliExpress! 60 teeth 30 teeth 2GT pulleys set Belt width 6mm Reduction 2:1 60T pulley 30T pulley synchronous wheel GT2 set of gear pulleys for 1 587 ₽ - already discounted -30%
https://sl.aliexpress.ru/p?key=RflirkN

I chose such as the 60t pulley is for a 17mm shaft without modifications... the question arose like this)))) did I choose the right ratio, or would it be better to have 60t by 20t?

Ah thanks, I've found it. It's called P3022-V1-CW360 and costs around €15 (~$17 or 1400rubles). This is not much less than the original 6127V1A180L.5FS from TT electronics on DigiKey. But the case looks better, flange mount instead of the 10mm center tap.

About the diode: please post the actual links instead of just screenshots. This way we can read the original discussion and find out the reason for the diode. The way it is wired in the picture prevents the motor driver from feedeing current back into the power supply. That makes sense if (and only if) the driver has an overvoltage shutdown.

I just checked the docs. They mention an overcurrent and somewhere an overvoltage protection but give no specific information. My guess is that the Sabertooth shuts down to protect itself in the case the motor back EMF charges the internal caps to a voltage >30V during braking. So you need the diode or bridge rectifier if your power supply is only 12V. Otherwise the supply could blow if the voltage rises above ~16V. 24V supplies can usually handle 30V without damage.

BTW, Dimension engineering (the manufacturer) says

This may not be necessary in all cases. Especially with 2DOF rigs and worm gears where the motors don't need to do heave work and the efficiency is low anyway the returned braking energy is too low to do any harm.

thank you for the information! I hope I won't have any problems and I won't need to solder anything.