Stacked Sheilds on STM32 G431 RB

hardware support
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1

Hi everybody, I am using two FOC Sheilds stacked on Nucleo 64 G431RB. Problem is both sheilds work individually with their respective motor, But when i stacked them, one of them stop working. Even when i enter angle for First motor it goes that position but somehow motor 1 also rotates a little bit.


 #include <SimpleFOC.h>

// Motor 1 Big

// Motor 2 Small

BLDCMotor motor1 = BLDCMotor(2);
BLDCDriver3PWM driver1 = BLDCDriver3PWM(5, 10, 6, 8);

BLDCMotor motor2 = BLDCMotor(4);
BLDCDriver3PWM driver2  = BLDCDriver3PWM(3, 9, 13, 7);
//target variable
float target_position_1 = 0;
float target_position_2 = 0;

// instantiate the commander
Commander command = Commander(Serial);
void doTarget1(char* cmd) { command.scalar(&target_position_1, cmd); }
void doLimit1(char* cmd) { command.scalar(&motor1.voltage_limit, cmd); }
void doVelocity1(char* cmd) { command.scalar(&motor1.velocity_limit, cmd); }


void doTarget2(char* cmd) { command.scalar(&target_position_2, cmd); }
void doLimit2(char* cmd) { command.scalar(&motor2.voltage_limit, cmd); }
void doVelocity2(char* cmd) { command.scalar(&motor2.velocity_limit, cmd); }

void setup() {

  // use monitoring with serial 
  Serial.begin(115200);
  // enable more verbose output for debugging
  // comment out if not needed
  SimpleFOCDebug::enable(&Serial);

  // driver config
  // power supply voltage [V]
  driver1.voltage_power_supply = 12;
  driver2.voltage_power_supply = 12;

  // this value is fixed on startup
  driver1.voltage_limit = 6;
  driver2.voltage_limit = 6;
  
  if(!driver1.init()){
    Serial.println("Driver 1 init failed!");
    return;
  }

    if(!driver2.init()){
    Serial.println("Driver 2 init failed!");
    return;
  }
  // link the motor and the driver
  motor1.linkDriver(&driver1);
  motor2.linkDriver(&driver2);
  // limiting motor movements
  // limit the voltage to be set to the motor
  // start very low for high resistance motors
  // currnet = resistance*voltage, so try to be well under 1Amp
  motor1.voltage_limit = 1;   // [V]
  motor2.voltage_limit = 2; 
  // limit/set the velocity of the transition in between 
  // target angles
  motor1.velocity_limit = 30; // [rad/s] cca 50rpm
  motor2.velocity_limit = 30; // [rad/s] cca 50rpm
  // open loop control config
  motor1.controller = MotionControlType::angle_openloop;
  motor2.controller = MotionControlType::angle_openloop;
  // init motor hardware
  if(!motor1.init()){
    Serial.println("Motor 1 init failed!");
    return;
  }

    if(!motor2.init()){
    Serial.println("Motor 2 init failed!");
    return;
  }

  // add target command T
  command.add('T', doTarget1, "target angle");
  command.add('L', doLimit1, "voltage limit");
  command.add('V', doLimit1, "movement velocity");

  command.add('t', doTarget2, "target angle");
  command.add('l', doLimit2, "voltage limit");
  command.add('v', doLimit2, "movement velocity");

  Serial.println("Motor 1 ready!");
  Serial.println("Set target position [rad]");

  Serial.println("Motor 2 ready!");
  Serial.println("Set target position [rad]");
  _delay(1000);
}

void loop() {

  motor1.move(target_position_1);

  motor2.move(target_position_2);
  
  
  command.run();
}
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