[*]This simulator uses the essential software Xsim to extract games telemetry

data and send the data to the motors.

[*]Two computers :
Pc #1 (graphic card 7970 lightning, Windows 7) :

- The car games (Dirt3, rFactorLite and Richard Burns Rally)

- Xsim Sender

PC #2 (Recycling) connected via a crossover cable RJ45 to PC #1

- Xsim Profiler
[*]Electronic cards : Arduino + Motomonster
An Arduino card linked to computer #2 with a USB cable.
The Arduino controls the MotoMonster shield motor driver board.

The power board Sparkfun MotoMonster drives the two motors (12V 47A = 575W)
according to the instructions of the Arduino (5V 5mA = 25 mW).

For simplicity, the motor driver board is equivalent to 4 relays:

driving the right motor forward <-> this means mounting the right side,
driving the right motor in the other direction <-> this means lowering the right side,
driving the left motor forward <-> this means mounting the left side,
driving the left motor in the other direction <-> this means lowering the left side,

An arduino program (C language)

This program interprets the data sent by serial port xsim (instructions) and sends it to
the motor control board.
It performs a feedback control by reading the values of the potentiometer coupled to
the motors :
-> The actual position is compared to the setpoint, and this will create a new updated
order sent to the MotoMonster card.

This feedback loop is performed every 80 ms.

A punchy 12V Power Supply Unit about 30A.

Electric Motors :

2 Truck Wiper Motors for actuating the movable platform, with their positioning
potentiometer (for feedback).

Structure in rectangular steel tube:

- the frame
the frame rests on the ground and supports the movable platform via a motor drive
shaft (U joint).

- the moving part: the cockpit

- A true racing bucket seat (tubular). The fiber seats are lighter but more expensive.
- A harness! important to feel the seat movements and for realism of immersion
- Force Feedback steering wheel and pedals

The dimensions
Here are the quotations to give you an idea :
Arduino /..Motomonster
......GND <-> GND pin
........5V <-> 5V
.....pin 4 <-> pin 4
.....pin 5 <-> pin 5
.....pin 6 <-> pin 6
.....pin 7 <-> pin 7
.....pin 8 <-> pin 8
.....pin 9 <-> pin 9

pin 13 is not needed

Arduino configuration :

*/ Arduino :
http://arduino.cc/en/Guide/Windows
install manually the drivers (see the Arduino's documentation for Windows Seven
installation).
After complete installation, find in the Windows system on which COM Port it has been
installed : you will need to put this information in Xsim Profiler.

Codigo Arduino (.INO)

/*
Arduino code for dynamic playseat 2DOF
Created 24 May 2011 by Jim Lindblom SparkFun Electronics
https://www.sparkfun.com/products/10182 "Example Code"
Created 24 Apr 2012 by Jean David SEDRUE Version betatest26 - 24042012
http://www.gamoover.net/Forums/index.php?topic=25907
Updated 20 May 2013 by RacingMat in english http://www.x-
sim.de/forum/posting.php?mode=edit&f=37&t=943&p=8481 in french :
http://www.gamoover.net/Forums/index.php?topic=27617
Updated 30 April 2014 by RacingMat (bug for value below 16 corrected)
*/

#define BRAKEVCC 0
#define RV 2 //beware it's depending on your hardware wiring
#define FW 1 //beware it's depending on your hardware wiring
#define STOP 0
#define BRAKEGND 3

////////////////////////////////////////////////////////////////////////////////
#define pwmMax 255 // or less, if you want to lower the maximum motor's speed

// defining the range of potentiometer's rotation

const int potMini=208;
const int potMaxi=815;

////////////////////////////////////////////////////////////////////////////////
#define motLeft 0
#define motRight 1
#define potL A0
#define potR A1

////////////////////////////////////////////////////////////////////////////////
// DECLARATIONS
////////////////////////////////////////////////////////////////////////////////
/* VNH2SP30 pin definitions*/
int inApin[2] = {
7, 4}; // INA: Clockwise input
int inBpin[2] = {
8, 9}; // INB: Counter-clockwise input
int pwmpin[2] = {
5, 6}; // PWM input
int cspin[2] = {
2, 3}; // CS: Current sense ANALOG input
int enpin[2] = {
0, 1}; // EN: Status of switches output (Analog pin)
int statpin = 13; //not explained by Sparkfun
/* init position value*/
int DataValueL=512; //middle position 0-1024
int DataValueR=512; //middle position 0-1024

////////////////////////////////////////////////////////////////////////////////
// INITIALIZATION
////////////////////////////////////////////////////////////////////////////////
void setup()
{
// serial initialization
Serial.begin(115200);

// initialization of Arduino's pins

pinMode(statpin, OUTPUT); //not explained by Sparkfun
digitalWrite(statpin, LOW);

for (int i=0; i<2; i++)

{
pinMode(inApin[i], OUTPUT);
pinMode(inBpin[i], OUTPUT);
pinMode(pwmpin[i], OUTPUT);
}
// Initialize braked for motor
for (int i=0; i<2; i++)
{
digitalWrite(inApin[i], LOW);
digitalWrite(inBpin[i], LOW);
}
}
////////////////////////////////////////////////////////////////////////////////
///////////////////////////////// Main Loop ////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
void loop()
{
int sensorL,sensorR;

readSerialData(); // DataValueR & L contain the last order received (if there is no
newer received, the last is kept)
// the previous order will still be used by the PID regulation MotorMotion Function

sensorR = analogRead(potR); // range 0-1024

sensorL = analogRead(potL); // range 0-1024

motorMotion(motRight,sensorR,DataValueR);
motorMotion(motLeft,sensorL,DataValueL);
}
////////////////////////////////////////////////////////////////////////////////
// Procedure: wait for complete trame
////////////////////////////////////////////////////////////////////////////////
void readSerialData()
{
byte Data[3]={
'0','0','0' };
// keep this function short, because the loop has to be short to keep the control over
the motors

if (Serial.available()>2){
//parse the buffer : test if the byte is the first of the order "R"
Data[0]=Serial.read();
if (Data[0]=='L'){
Data[1]=Serial.read();
Data[2]=Serial.read();
// call the function that converts the hexa in decimal and that maps the range
DataValueR=NormalizeData(Data);
}
if (Data[0]=='R'){
Data[1]=Serial.read();
Data[2]=Serial.read();
// call the function that converts the hexa in decimal and maps the range
DataValueL=NormalizeData(Data);

}
}
if (Serial.available()>16) Serial.flush();
}
////////////////////////////////////////////////////////
void motorMotion(int numMot,int actualPos,int targetPos)
////////////////////////////////////////////////////////
{
int Tol=20; // no order to move will be sent to the motor if the target is close to
the actual position
// this prevents short jittering moves
//could be a parameter read from a pot on an analogic pin
// the highest value, the calmest the simulator would be (less moves)

int gap;
int pwm;
int brakingDistance=30;

// security concern : targetPos has to be within the mechanically authorized range

targetPos=constrain(targetPos,potMini+brakingDistance,potMaxi-brakingDistance);

gap=abs(targetPos-actualPos);

if (gap<= Tol) {
motorOff(numMot); //too near to move
}
else {
// PID : calculates speed according to distance
pwm=195;
if (gap>50) pwm=215;
if (gap>75) pwm=235;
if (gap>100) pwm=255;
pwm=map(pwm, 0, 255, 0, pwmMax); //adjust the value according to pwmMax for
mechanical debugging purpose !

// if motor is outside from the range, send motor back to the limit !
// go forward (up)
if ((actualPos<potMini) || (actualPos<targetPos)) motorGo(numMot, FW, pwm);
// go reverse (down)
if ((actualPos>potMaxi) || (actualPos>targetPos)) motorGo(numMot, RV, pwm);

}
}

////////////////////////////////////////////////////////////////////////////////
void motorOff(int motor){ //Brake Ground : free wheel actually
////////////////////////////////////////////////////////////////////////////////
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], LOW);
analogWrite(pwmpin[motor], 0);
}
////////////////////////////////////////////////////////////////////////////////
void motorOffBraked(int motor){ // "brake VCC" : short-circuit inducing electromagnetic
brake
////////////////////////////////////////////////////////////////////////////////
digitalWrite(inApin[motor], HIGH);
digitalWrite(inBpin[motor], HIGH);
analogWrite(pwmpin[motor], 0);
}

////////////////////////////////////////////////////////////////////////////////
void motorGo(uint8_t motor, uint8_t direct, uint8_t pwm)
////////////////////////////////////////////////////////////////////////////////
{
if (motor <= 1)
{
if (direct <=4)
{
// Set inA[motor]
if (direct <=1)
digitalWrite(inApin[motor], HIGH);
else
digitalWrite(inApin[motor], LOW);

// Set inB[motor]
 if ((direct==0)||(direct==2))
digitalWrite(inBpin[motor], HIGH);
else
digitalWrite(inBpin[motor], LOW);

analogWrite(pwmpin[motor], pwm);

}
}
}

////////////////////////////////////////////////////////////////////////////////
void motorDrive(uint8_t motor, uint8_t direct, uint8_t pwm)
////////////////////////////////////////////////////////////////////////////////
{
// more readable function than Jim's (for educational purpose)
// but 50 octets heavier -> unused
if (motor <= 1 && direct <=4)
{
switch (direct) {
case 0: //electromagnetic brake : brake VCC
digitalWrite(inApin[motor], HIGH);
digitalWrite(inBpin[motor], HIGH);
break;
case 3: //Brake Ground (free wheel)
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], LOW);
break;
case 1: // forward : beware it's depending on your hardware wiring
digitalWrite(inApin[motor], HIGH);
digitalWrite(inBpin[motor], LOW);
break;
case 2: // Reverse : beware it's depending on your hardware wiring
digitalWrite(inApin[motor], LOW);
digitalWrite(inBpin[motor], HIGH);
break;
}
analogWrite(pwmpin[motor], pwm);
}
}
////////////////////////////////////////////////////////////////////////////////
// testPot
////////////////////////////////////////////////////////////////////////////////
void testPot(){

Serial.print(analogRead(potL));
Serial.print(";");
Serial.println(analogRead(potR));
delay(250);

}
////////////////////////////////////////////////////////////////////////////////
void testpulse(){
int pw=120;
while (true){

motorGo(motLeft, FW, pw);

delay(250);
motorOff(motLeft);
delay(250);
motorGo(motLeft, RV, pw);
delay(250);
motorOff(motLeft);

delay(500);

motorGo(motRight, FW, pw);

delay(250);
motorOff(motRight);
delay(250);
motorGo(motRight, RV, pw);
 delay(250);
motorOff(motRight);
Serial.println("testpulse pwm:80");
delay(500);

}
}
////////////////////////////////////////////////////////////////////////////////
// Function: convert Hex to Dec
////////////////////////////////////////////////////////////////////////////////
int NormalizeData(byte x[3])
////////////////////////////////////////////////////////////////////////////////
{
int result;

if ((x[2]==13) || (x[2]=='R') || (x[2]=='L')) //only a LSB and Carrier Return or 'L'

or 'R' in case of value below 16 (ie one CHAR and not 2)
{
x[2]=x[1]; //move MSB to LSB
x[1]='0'; //clear MSB
}
for (int i=1; i<3; i++)
{
if (x[i]>47 && x[i]<58 ){//for x0 to x9
x[i]=x[i]-48;
}
if (x[i]>64 && x[i]<71 ){//for xA to xF
x[i]=(x[i]-65)+10;
}
}
// map the range from Xsim (0 <-> 255) to the mechanically authorized range (potMini
<-> potMaxi)
result=map((x[1]*16+x[2]),0,255,potMini,potMaxi);
return result;
}