WheelBoard Controller

Balancing controller for DIY mono wheeled skateboard.

Supported hardware: CPU: STM32F103CBT6 Flip32 or Naze32 control boards.

I run it with: VESC ESC. My vesc config is below

Wiring:

• PWM1 - main balancing signal. Wire it to VESC PPM input.
• RC_CH1, RC_CH2 - optional input for force sensors. These register pressure on foot pads and allow board to start only when both pads are pressed.
• BUZZER - optional buzzer, lets you know when you reach speed limit.

FootPad sensors

I use 4 (2 on each side) force sensing resistors. Connect two on each side in parallel. Then one wire to 3.3v, the other to RC_CH1. Add a pull down 3k resistor from RC_CH1 to ground. (Same for other side, RC_CH2).

Optional:

• USART1 RX, TX - goes to a bluetooth module (NON-BLE, BLE wont work), baud 115200, no parity, 8bits, 1 stop Phone app https://github.com/blezalex/WheelBoardAndroid
• RC_CH3, RC_CH4 - USART2 RX/TX - goes to VESC RX/TX (gets various stats from vesc)

My Setup:

• Main board Flip32 Rev5
• ESC VESC
• Hub motor with tire 36v 500W 11in
• 13s 5000mAh lipo

VESC Settings

• FOC
• All current limits 60A
• APP: USART and PPM
• Control Type: Current
• Median Filter: False
• Safe Start: False
• Positive/Negative ramping time 0.02

Mapping

• Start: 1ms
• End: 2ms
• Center: 1.5010ms
• Input Deadband: 0%

Throttle curve

no expos

Frame build log: http://imgur.com/a/ALTTR

Warning

Use at your own risk. No guarantees. This software is not bug-free. Self balancing vehicles are inherently unstable.