Candas1

Hi, I can reply and @EFeru can comment if I am wrong. Emanuel made an input available in the model for mechanical angle from an external encoder: https://github.com/EFeru/hoverboard-firmware-hack-FOC/blob/4770b13b2cfc3a952f17f6217ec254639d10a0f5/Src/bldc.c#L188 But there...

I am saying there is no code to read encoder angle, of course it will not work. And the code to read encoder angle would be different depending on which...

It seems those encoders output pulses in 2 phases when the wheel moves. https://howtomechatronics.com/tutorials/arduino/rotary-encoder-works-use-arduino/ It's incremental so an interrupt would have to capture the rising/falling edges, figure out the direction,...

> I've been following this discussion, because it very closely relates to my project where I'd like to control my vehicle from a coupled microcontroller with as much precision as...

@landrisan, I am curious about your industrial use of the firmware, any video you can share ?

Hi, That's the first time I see such board. As mentioned in the wiki you need to check if the pinout is matching and adapt in define.h if needed.

Maybe you can try your chance on the [Telegram group](https://t.me/joinchat/BHWO_RKu2LT5ZxEkvUB8uw), some other users might have such boards

Hi, You can power the chip with 3.3v from stlink, but it's not recommended, it seems few people ended up bricking the board. I am not sure running on 12v...

In voltage mode? Not torque mode?

If you use the auto-calibration and move only the joystick forward and in one direction it should work. Otherwise you could try [SKATEBOARD](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-SKATEBOARD) variant and replace CONTROL_PWM_RIGHT by CONTROL_NUNCHUK [here](https://github.com/EFeru/hoverboard-firmware-hack-FOC/blob/bd4a34dabf655ba8a9a48e9974ebb0b619796fde/Inc/config.h#L583)...