# DMover Controller

The DMover Controller output sends actuator positions to a **DMover** motion platform over a serial connection. It supports both 4-actuator and 6-actuator DMover configurations. DMover platforms use high-speed CAN-bus servo actuators controlled through a USB-to-CAN bridge.

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## Setup Steps

1. Connect your DMover controller to your PC via USB.
2. In DR Sim Manager, go to the **Outputs** tab and click the **+** tab.
3. Select **DMover Controller** from the list.
4. Select the **Preset** that matches your setup (4 or 6 actuators).
5. Select your **COM port** from the dropdown (click **Refresh** if it's not listed).
6. Choose your preferred **Motion Mode** (Smooth, Balanced, or Hyper).
7. Set the **Travel (mm)** for each actuator to match your hardware's stroke length.
8. Map each channel to the appropriate sim component actuator.
9. The output connects automatically and initializes the actuators.

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## Settings

### Preset

Select your DMover hardware variant from the preset dropdown:

- **DMover 4 Actuators** — Standard 4-actuator setup
- **DMover 6 Actuators** — Extended 6-actuator setup

The preset automatically configures the number of axes and communication parameters.

### Serial Port

Select the COM port that your DMover controller is connected to from the dropdown. Click **Refresh** to rescan for available ports if you connected the controller after opening DR Sim Manager.

The connection uses a **fixed baud rate of 1,500,000** (1.5 Mbaud) with **16-bit position values**.

### Motion Mode

Choose a motion mode to control the feel of the platform's movement:

- **Smooth** — Lower acceleration and deceleration values for a gentle, smooth ride. Best for flight simulation or comfort-focused setups.
- **Balanced** — A middle ground between smooth and responsive motion. Good for general use.
- **Hyper** — High acceleration and deceleration for the most aggressive, responsive feel. Best for competitive sim racing where fast reactions are important.

The motion mode affects the actuator acceleration and deceleration parameters that are sent during initialization. Changing the mode requires reconnecting the output.

### Output Rate

Adjust the output rate (in milliseconds) to control how frequently position updates are sent to the controller. The default is **2 ms** (500 Hz).

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## Axis Mapping

Map each actuator channel on the DMover to a specific sim component axis. For each actuator, you can configure:

- **Device** — Select the sim component (e.g., your hexapod or seat mover)
- **Actuator** — Select which actuator output to send on this channel
- **Travel (mm)** — Set the actuator's stroke length in millimeters (default: 270 mm)

> **caution**
The **Travel (mm)** setting is critical for correct positioning. It tells DR Sim Manager the physical stroke length of each actuator so positions can be mapped accurately. Set this to match your actual hardware — incorrect values will result in under- or over-travel.

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## Connection Behavior

When DR Sim Manager connects to the DMover controller, it runs an initialization sequence:

1. The serial port is opened at 1.5 Mbaud.
2. Initial position commands are sent to each actuator.
3. Locking current, acceleration, and deceleration parameters are configured based on the selected Motion Mode.
4. A short delay allows the actuators to initialize (approximately 3–4 seconds total).
5. Continuous position data is then sent at the configured output rate.

Position values are dynamically mapped based on each actuator's travel setting, ensuring accurate physical movement regardless of stroke length.

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## Troubleshooting

### Actuators not responding after connecting

1. **Wait for initialization** — The DMover requires approximately 3–4 seconds to complete its initialization sequence after connecting. Do not interrupt this process.
2. **Check the COM port** — Verify in **Device Manager > Ports (COM & LPT)** that the correct port is selected.
3. **Check the preset** — Ensure you selected the correct actuator count (4 vs 6).
4. **Check USB connection** — The DMover uses a very high baud rate (1.5 Mbaud). Avoid USB hubs and use a direct USB connection to your PC.

### Actuators move but positions are wrong

- Verify the **Travel (mm)** is set correctly for each actuator. This value must match the physical stroke length of your DMover actuators.

### Motion feels too aggressive or too soft

- Change the **Motion Mode**. Start with **Balanced** and adjust up to **Hyper** for more responsiveness, or down to **Smooth** for a softer feel.
- After changing the motion mode, disconnect and reconnect the output for the new parameters to take effect.

### COM port not listed or "Access Denied"

See [Serial Output Not Working](../frequently-asked-questions/serial-output-not-working.md) for general COM port troubleshooting steps.