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EFeru / hoverboard-firmware-hack-FOC

With Field Oriented Control (FOC)
GNU General Public License v3.0
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VARIANT_ONEWHEEL #93

Closed vfear closed 4 years ago

vfear commented 4 years ago

a few days ago, I completed the onewheel project. I used the factory firmware from a hoverboard and combined the two motors into one. the body was assembled from aluminum pofil and plywood, and the motors were inserted into a go-kart tire. it turned out a lot of fun) but still want to make a custom firmware and add several functions to it: increase the speed, raise the nose of the board when gaining speed. it's hard for me to make such a firmware on my own, since I don't know much about programming, but if you could help, I think it would be interesting to a lot of people

EFeru commented 4 years ago

@vfear I think the balancing controller can be used for onewheel as well. However, it is not finalized yet, so it will take some time. At the moment, my time is limited on this project. I can only spend little time to do some improvements.

vfear commented 4 years ago

@EmanuelFeru Hi, I found this example http://www.cammservices.com/projects/onewheelboard. Arduino + mpu6050 + VESC. Is it possible to make such a project for working with hoverboard mainboard?

annoyinganime commented 4 years ago

Using stock hoverboard motor you can expect 16-18km/h at most, that's a KV limitation of the motor. I was able to rework the wiring inside the motor to triple that speed, however it reduced the torque by the same amount. For my electric longboard it was worth it, but I don't think that's a great option for you, because gyro-stabilized electric vehicles (at least as I know it) should have great torque to be able to stabilize themselves

EFeru commented 4 years ago

This Variant will be covered when the Balancing controller is implemented in the VARIANT_HOVERBOARD.

tonymande commented 3 years ago

I'm also interested in the VARIANT_HOVERBOARD and VARIANT_ONEWHEEL, which doesn't exist yet. Maybe I could help. I modified your code already for the Hovercar and although I'm not really familiar with programming arm chips, I've done much programming for Arduino. So I'll give it a try.

@EmanuelFeru: Could you pinpoint me to the code of the balancing controller? What method is your implementation based on (PID)?

EFeru commented 3 years ago

@tonymande I am happy to hear you want to support. I think if you have Arduino programming skills then you will be doing fine with STM.

I have then some material for you :-)

  1. Tan @yashatan worked on this for his graduation project using fuzzy controller, so he already figured out the signs and orientation matrix for the sensors. His reositories are here: https://github.com/yashatan

  2. I already did a simulation model (work in progress) with the balacing control structure as below. My intention is to design a controller in simulation and then build code from it. image

  3. It is inspired from here: MiniBalanceV3.5 karlman filter.zip

Edit: Can you open a new item for this topic? So we can follow it easier.

tonymande commented 3 years ago

Thanks for the information. Yes, I'll open another item once I can get my hands on this topic.

vfear commented 3 years ago

Thanks for the information. Yes, I'll open another item once I can get my hands on this topic. @tonymande any news?