Table 5.

Simulator components.

Components	Detail
Actuators	Two direct current electric motors. 12 V; 1350 W peak, and 28:1 gear box equipped with two optical quadrature encoders –one for each motor– that estimate the turning angle of the motors. Two Pololu VNH519 H bridges of 12 V and 30 A, respectively, model. Driven from a 12 V and 60 A power source.
Microcontrollers	Two Arduino Uno development boards; the first one estimates the rotation angle of both motors by means of interruptions via hardware and the second one to achieve the serial communication and control of the two H bridges by PWM signals.
Steering wheel and pedals	Logitech g27 steering wheel.
Virtual Reality System	HTC VIVE Pro Virtual Reality System. Headset and two hand controllers.