VESC One Wheel Full Setup | Firmware 6.02 & Float Package

  Рет қаралды 23,177

The Board Garage

The Board Garage

Күн бұрын

Accompanying article:
theboardgarage.com/articles/v...
Please comb through PEV.dev throughout your learning journey, and ownership of these kinds of VESC based one wheeled devices. The information there is often updated and discussed. There are relevant links in the above article that also link back to PEV.dev
Many thanks to ‪@surfdado‬ ‪@freedomcaller‬ and ‪@nicoaleman‬ for their all around contributions to the project and community.
00:00 - Intro
02:50 - Use Android Devices
04:25 - Update/Reinstall 6.02 Firmware
10:32 - Starting From Scratch
11:28 - IMPORTANT Battery Voltage Primer
17:56 - Motor Detection Beginning
21:38 - Battery Info In Motor Setup
25:10 - Battery Current Misunderstandings
26:25 - Wheel Size
27:44 - Motor Detection Itself
29:28 - Check Motor Direction
32:27 - Motor - General - Current
40:00 - VESC BMS & ENNOID
41:49 - VERY IMPORTANT - Voltage Cutoffs
46:36 - Motor - FOC Tab
50:34 - Motor - Hall Sensors
51:23 - Zero Vector Frequency
52:01 - Motor Observer Type
53:51 - Field Weakening
54:48 - Check Motor Function
56:11 - Calibrate IMU Start
59:53 - Internal Timeout - Incorrect Frequency
1:00:28 - Gyroscope Calibration
1:01:09 - Accelerometer Calibration
1:06:23 - Orientation Calibration
1:09:42 - Yaw Offset Errors
1:10:28 - Fix IMU Sample Rate
1:12:12 - How To Reset/Redo IMU
1:13:36 - Install Float Package
1:15:18 - Test Foot Sensors
1:16:36 - VERY IMPORTANT Battery Voltage Tiltback Values
1:21:47 - Tune Value Changes (Optional)
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Пікірлер: 48
@nicoaleman
@nicoaleman Жыл бұрын
Awesome video as always, this comprehensive guide was a much needed resource for the community 🙏 Few extra notes for people to keep in mind as well that could potentially be missed from this video: 48:33 - For Observer Gain, I just wanted to note for incoming Floatwheel ADV riders, we don't yet know if this should be tweaked or not. The detected value comes out as close to 0.75, so there's a chance it may not need to be halved. I would leave alone for now on Floatwheel ADV's until more testing is done on what works best. 54:10 - Generally, the recommended Field Weakening settings also include setting ramp time to 500ms. Full disclaimer, I personally haven't tried a quicker ramp time, so I can't speak on it kicking in too suddenly to be noticeable or anything like that, very possible it may work just fine. 500ms is just more "tried and true" in this case, so if you have any weird experiences leaving it at 200ms where you notice any weird behavior at that 60% duty cycle transition point, it may be worth bringing it up to 500ms. 59:56 - When Mario mentions 832Hz for the Sample Rate, this is true for the Little FOCer v3.1 (which uses an LSM6DS3 IMU), but may not be true for all setups! Some IMU's like the one in the Floatwheel ADV use 800Hz, some use 1000Hz, etc. Make sure this Sample Rate (App CFG -> IMU) matches that of your IMU, and if not 832Hz, you must also have Loop Hertz match this, found under Float CFG -> Specs (Once Float Package is installed later; he mentions this parameter at 1:17:59). So for example, if you have a Floatwheel ADV, you need to set both Sample Rate (App CFG -> IMU) and Loop Hertz (Float CFG -> Specs) to 800Hz. 1:10:32 - After IMU setup, when checking if it's functioning on the RT Data tab (scroll down to IMU screen), make sure you're looking at the values! Specifically, Roll should read near 0 when not rolled, Pitch should read about positive 20-30 or so for nose up, and negative for nose down, and they should both be about 0 when level. If this is not true, something went wrong and you may need to re-visit IMU Calibration, possibly from a clean slate to be safe like Mario explained how to do. 1:14:09 - When installing the Float Package, even if it shows up already on the Packages tab, I would still recommend hitting Update Archive to make sure you're installing the latest version of the Float Package, with the latest features and bug fixes!
@Corevena
@Corevena Жыл бұрын
Thanks heaps you two for all the info! Got my adv pro setup and riding well! only odd thing id a really high pitch whiniing noise whenever riding and my battery percentage even at fully charged will display 80%. cant see whats causeing it haha
@nicoaleman
@nicoaleman Жыл бұрын
@corevena4664 Battery percentage I really wouldn't trust anyways, I prefer to just reference the voltage on the RT Data screen above that one. But that's likely due to some battery information being input wrong during motor setup, you can check them under Motor CFG -> Additional Info. For the high pitch whine, there's no great way to fully get rid of it, but you can try different Zero Vector Frequency values to see what sounds best. This is under Motor CFG -> FOC -> Advanced. Tony recommends 26kHz, but try different values between 25-30 and see what sounds best when engaged. Can try lower too but it usually makes the whine more noticable, and I'm not sure what the controller is rated for so I probably wouldn't push it much past 30kHz, or at least not above 35kHz if you really want to try a bit higher.
@Adoptme646
@Adoptme646 9 ай бұрын
Under general and temperature did you change any value like mosfet temp cut off and cut off start also the accelaration temp decrease
@nicoaleman
@nicoaleman 9 ай бұрын
@@Adoptme646 Accel Temp Decrease should be set to 0% to prevent current limiting before Temperature Tiltback kicks in. For the cutoff temps, I personally set both Motor and MOSFET to have Cutoff Start 80°C and Cutoff End 90°C
@skfunk4550
@skfunk4550 Жыл бұрын
first time ever i understood how battery voltage is actually calculated 😊 yes, i am very new to pev's. awesome video, thank you Sir
@xsh4n400
@xsh4n400 28 күн бұрын
What a wealth of information here! Thanks so much. I’ve been a VESC rider for a year now, and I still reference this video to gain a little more knowledge every time.
@ManifoldSky
@ManifoldSky 8 ай бұрын
FloatWheel values for motor set up differ from this video as follows: Max Power Loss: 700W Sensorless ERPM: 1500 Battery Capacity: 8.0 for adv and 8.4 for adv pro Battery Current Regen: -70A Battery Current Max: 70A Wheel Diameter: 293mm Motor Current Max/Brake: 120A/-120A Absolute Max Current: 180A Battery Voltage Cutoff Start: 50V Battery Voltage Cutoff End: 40V Zero Vector Frequency: 26kHz He makes no recommended changes to the General FOC parameters I find that the default observer works fine on the adv pro Field Weakening Current Max: 50A Field Weakening Duty Start: 70% Field Weakening Ramp Time: 1000ms IMU Type: BMI160 Loop Hz: 800Hz High Voltage Threshold: 86V Low Voltage Threshold: 60V Angle I:/Mahoney KP: unchanged These are Tony's values from his V2 Motor set up. Any issues, take them up with him!
@jinkiescoob
@jinkiescoob Жыл бұрын
Well done serving the community with this quality resource.
@ilrisotter
@ilrisotter 11 ай бұрын
these instructions were invaluable to getting my floatwheel working. I messed up the imu, and it was impossible to mount with out the board shooting out from under me. resetting the imu in app cfg let me recalibrate from whatever bad state it was in.
@Argotiers
@Argotiers Жыл бұрын
A true hero.
@JustinBockrath
@JustinBockrath 11 ай бұрын
Video Summary/Keypoints: 00:00 📺 This video is a tutorial on setting up a VESC-based one-wheel board, focusing on the software setup. 01:25 📱 An Android device is recommended for configuring VESC-based personal electric vehicles (PEVs) like one-wheel boards due to more stable Bluetooth connectivity with VESC tool. 04:51 🔄 Reflashing the firmware can resolve certain issues with VESC-based devices, but be cautious not to interrupt the process. 10:35 🔋 Understanding battery parameters, like full voltage, nominal voltage, empty voltage, and the S count (series count) of your battery pack, is crucial for configuring your PEV correctly. 18:12 🏎 Performing motor detection, especially for larger outrunner motors, is a crucial step in configuring VESC-based devices and should be done with care. 21:35 📊 Inputting accurate battery information into VESC settings ensures accurate real-time data display, and this information should be provided by the battery or device manufacturer. 24:48 ⚡ Battery regen braking power can be set using the "battery current regen" parameter, with a recommended value of around -25 amps. 25:14 🔌 Don't use cell datasheet figures to set battery current; it's unrealistic. Set battery current based on practical usage and context. 26:39 📏 Measure your wheel diameter accurately for optimal speed readings; guesswork can lead to inaccurate data. 28:27 🛠 After motor detection, test the motor direction to ensure it's correct; incorrect motor direction can lead to problems. 31:11 🕹 Check the motor's functionality in the controls tab after detection, setting it to forward and reverse to ensure proper operation. 34:20 📝 When configuring motor settings, prioritize the critical values for motor functionality before fine-tuning for optimization. 37:57 🛇 Disable BMS-related settings if you have a VESC-connected BMS to prevent motor cutoff due to battery state inaccuracies. 42:48 ⚡ Set battery voltage cutoffs (start and end) well below your pushback or tilt back voltage to avoid sudden motor cutoffs when battery levels drop. 47:00 ⚙ Adjust motor resistance and observer gain values for optimization based on the specific motor type (e.g., hyper core, superflux). Consult references for precise values. 50:40 🛠 Adjust sensorless erpm to 2000 and Hall interpolation erpm to 200 for motor optimization. 51:37 📊 Increase zero Vector frequency to 27 kHz for improved performance on certain motors. 52:16 🔍 Consider changing the Observer type to "Ortega original" for the hyper core motor in VESC firmware 6.02 for better results. 54:07 🚀 Enable field weakening by setting the field weakening current Max to 30 amps and the field weakening Duty start to 60 percent for increased top speed. 56:10 🧭 Calibrate the IMU (Inertial Measurement Unit) to ensure accurate board orientation data. 59:02 💡 Use a Bubble Level to ensure the board's pitch and roll axes are level during IMU calibration. 01:00:12 ⚙ Check and manually set the IMU sample rate to 832 Hertz in app config to match the float package frequency. 01:14:06 📦 Install the float package and reconnect the VESC tool GUI to access package-specific settings. 01:15:43 📊 When checking float app RT data adc1 and adc2, they should be near zero initially, but go above three volts when you press on one side and then both sides. 01:16:24 🛠 To ensure your foot pad works, press both switches to prime it for startup. This verifies it's registering above three volts. 01:17:03 🔄 Before tuning balance values, set appropriate voltage thresholds in float config: high voltage threshold (to warn of overcharging) and low voltage threshold (for empty battery). 01:18:14 🔋 Set the high voltage threshold based on your battery's full voltage, typically 1-1.5 volts above full charge voltage. For an 84V 20s battery, set it to 85V. 01:20:16 🚫 Configure the low voltage threshold for tilt back to 60 volts for a 20s battery (3 volts per cell). Adjust accordingly for different battery configurations. 01:22:04 🧤 It's advisable to test the board's functionality on the floor or with hand tests before standing on it to ensure safety. 01:23:18 🛴 Once the default tune is set and the board is functional, you can fine-tune the ride feel by adjusting values in the float package, including angle P, rate P, angle I, and Mahoney KP. 01:24:25 🏞 Test the board in a safe area to ensure it responds to your leans and movements as expected before making advanced adjustments to the tuning settings.
@freedomcaller
@freedomcaller Жыл бұрын
For the foward and reverse motor direction detection, i always put the onewheel on the floor and let it run to see if fowards is fowards, its hard to see visualy and unintuitive when on a bench. Newbs get it wrong all the time, and even pros get it wrong sometimes. If you put it on the floor and watch it run, youll never get it wrong. Just make sure you have 6ft of runway in either direction.
@benjaminf8526
@benjaminf8526 Жыл бұрын
You're the hero that we dont deserve, Mario ❤
@SaiyanEuc
@SaiyanEuc Жыл бұрын
Mario thank you!! This video is amazing. I feel like a student again i learned so much. Ill probably listen/watch this 20 times to much sure I retain all this wonderful information. Can't thank you enough for this 🤙👍
@MonkeySwing
@MonkeySwing Жыл бұрын
This is incredible. I hope you make more content like this.
@scotterlichman2439
@scotterlichman2439 6 ай бұрын
Outstanding video. Thanks for taking the time to put this together. I'm new to VESC and this was very helpful.
@e5211
@e5211 Жыл бұрын
incredibly helpful mario. Great explanations on setup and what each thing does.
@liamallgood
@liamallgood 11 ай бұрын
Thank you Mario. This video, your write up on rewiring a GT Battery, and the video where you rebuilt a Quart battery, gave me the confidence I needed to bring my dead GT back to life. It's been out of action for most of the summer, and without these resources I never would have taken the plunge to buy a Vesc and get it all working again. I live in the UK and the Shipping alone back to FM was more expensive than just buying the Vesc and BMS. I have never worked on a LiPo Battery pack before, but with a load of research, days of soldering in my spare time, it feels like I have a brand new board again. Hat's off to you sir, I never would have finished (or started it for that matter) without you.
@NogaroChase
@NogaroChase 3 ай бұрын
Got my thor up and running last night on a stock xr battery for now, thanks Mario!
@deanaoxo
@deanaoxo Жыл бұрын
Thanks, huge resource!
@GlorifiedChessPiece
@GlorifiedChessPiece 11 ай бұрын
fantastic content! thanks
@rileywaldo1580
@rileywaldo1580 10 ай бұрын
Thank you so much!
@T4t4N-M4k4k_StokedMonkey
@T4t4N-M4k4k_StokedMonkey 11 ай бұрын
Wahoooo, yeah finally a wonderful guide, for Hypercore OR superflux... I just finished my built, again.. it's a "Vxwheel", with Ubox100. Just now I can't watch the video, i am to tired, I ll sleep for sure, but when I can I watch it full to configurate my board... She's functionning,, but I am sure it can be upgraded with better parameters.
@CayoticProphet
@CayoticProphet 9 ай бұрын
I bought a never installed VESV based little focker and 3D printed box off craigslist but I don't know where to begin. I bought a soldering iron that attaches to my Milwaukee M18 battery though so I'm heading in the right direction. 😁
@BH4x0r
@BH4x0r 11 ай бұрын
PS: when a VESC gets bricked, you can use another VESC as an SWD debugger with the full VESC tool and i believe with the full android version aswell (tablet) in which case you don't need an STLink
@jeffreyodachowski6247
@jeffreyodachowski6247 9 ай бұрын
Man this is just about like setting up a race drone on betaflight lol. But that's one of my things lol
@AllTrails_BigBails
@AllTrails_BigBails 10 ай бұрын
Do you happen to have a recommended battery current figures for the 18s2p torque pack from zbattery solutions? I didn’t find it in the link you provided; only the speed pack was there, I believe.
@landsurfmarin
@landsurfmarin 8 ай бұрын
Great video…but there’s a much easier and more accurate way to get your actual tire diameter instead of guessing or using sticks. Use a string and wrap it around the tire at the center. Mark the spot the ends meet up, then take and measure the string length in mm. Then, simply divide that value by pi, and you have the diameter: D = C / π Where π (pi) is approximately equal to 3.14159.
@RusticRaver
@RusticRaver 11 ай бұрын
Can you emulate Delirium on VESC?
@eBoard3R
@eBoard3R Жыл бұрын
⚡👏🏼👏🏼⚡
@BenjaminGuidry
@BenjaminGuidry 4 ай бұрын
1:15:18 I'm having trouble here. my ADC1 and ADC2 is showing a constant 1.7 volts and nothing changes when I press the pads. Anyone know what's up with that?
@SinCityEsk8
@SinCityEsk8 11 ай бұрын
48:33 When adjusting Motor Resistance, isn’t it a good idea to also match Current KI to the Motor Resistance value?
@TheBoardGarage
@TheBoardGarage 11 ай бұрын
It can be, but in practice, it hasn’t shown to be necessary with the Hypercore or Superflux.
@nutsigroman7534
@nutsigroman7534 11 ай бұрын
Нужно сделать ЧТОБ по сугробам проезжал, гусинетцу сделать😊
@buggyok
@buggyok Жыл бұрын
i have a longshot and sort of stupid question. could i pay you to make me a vesc based xr i could buy everything i just dont trust myself to make it myself.
@TheBoardGarage
@TheBoardGarage Жыл бұрын
I can do custom builds and conversions, feel free to email the shop: info@theboardgarage.com
@thetoasterisonfire2080
@thetoasterisonfire2080 Жыл бұрын
Soon we shall free ourselves from the trash that is FM
@thewheeliain
@thewheeliain 11 ай бұрын
Getting sensorless under the sensors category.
@TheBoardGarage
@TheBoardGarage 11 ай бұрын
Sensor connector could be disconnected, or the wiring somehow damaged.
@DSC1320
@DSC1320 Жыл бұрын
Can I hire you to build me a 84v vesc onewheel ? I'm in VA
@TheBoardGarage
@TheBoardGarage Жыл бұрын
Sure, you can send me an email. info@theboardgarage.com
@jackcassandra65
@jackcassandra65 9 ай бұрын
Is it possible for you to build me a board like yours and how much would you charge?
@TheBoardGarage
@TheBoardGarage 9 ай бұрын
You can reach out to me on my site and we can discuss it.
@quinnfoster1234
@quinnfoster1234 Жыл бұрын
Lame i just wanted a pile of broken parts anyways
@itsarlynbitch
@itsarlynbitch 7 ай бұрын
Hi first time caller long time listener.. you say in here not to double the amps on the battery spec sheet, because bad things can happen.. couple quick q's here.. 1: why not? Considering series parallel logic, and a given spec sheet *shouldn't that be fine? The guy giving floatwheel specs is quoting regen and current at +/-70A. They must be doing what you caution against. What are their eventual and unavoidable consequences that will befall people due to the recommendations of @ManifoldSky and "Tony?" 2: bad things? Bad things like Sudden Exploding Leg Syndrome, or bad things like just slightly affecting battery lifespan? 3: you give rec. total amps for stock battery in the video, what about other cell packs like p42a/b and m34t? 4: how do we calculate this for any given battery? 5: now that dual zone battery support is being built into funwheel enclosures, does more battery=more amps? 6: If you can't stack amps drawn in parallel, does it matter that the funwheel vesc can support 300A, or is that just a dickwave statistic to out amp the lil foc and sell esc's while adding consumer cost with no real benefit? Thanks, and please add some of these answers to your accompanying article, at least #3
@TheBoardGarage
@TheBoardGarage 7 ай бұрын
The data sheets that can be found for any given cell are limited in what they contain, and are meant for engineers who are integrating the cell into a system with defined parameters. There are contexts that most DIY one wheel and PEV hobbyists don’t understand or look for, and so numbers that are talked about in much of this hobby are meaningless. This goes from cell current ratings to MOSFET current ratings. Without actual context, the numbers are not much use. If you set your board to any given current, the likelihood of catastrophe is low, which I think is what you’re asking about. I’m not entirely clear on what you’re asking. I’ve explained in posts on the FB groups and in the Vescify Discord why I set the numbers that I do, and whenever I put more rationale into a video, I get complaints that I’m too long winded and people just want to be told what settings to put where. I’m burned out on going back and forth between explaining things in detail I already have, and limiting explanations in order to be more concise. The answers have already been given in various areas, so I won’t be rehashing it here. As for your last point about “dickwave statistic”, I can’t say anything about the Fungineers VESC, as I haven’t tested one and don’t have one to use to confer with my colleagues on.
@itsarlynbitch
@itsarlynbitch 7 ай бұрын
@@TheBoardGarage yeah what I was asking I guess is that even if their absolute values aren't safe to plug in, the relative value of say a stock 30T cell in comparison to a p45b or 50S stands to reason that one would be able to get away with a higher max current than with a stock FM battery If spec sheets say continuous 25A vs 35A vs 45A, I'm certainly curious to why they would all be run at 25A max. I appreciate the detail and nuance in the way you write, and whether just being told what to put or having it explained in way that allows me to look at spec sheets of batteries that will be released 5 or 10 years and understand how to seduce safe current levels on any given cell, are both levels of information that I and certainly others would benefit from. It's possible that information is buried somewhere within four years of continuous round the clock conversation that take place fluidly between discord rooms that exist across 4 or 5 discord servers and several traditional bb based forums on top of it. I understand not wanting to repeat yourself every week on a different medium, but what you're offering as a solution is to find a needle in a haystack and without an explanation of what to put or why, people will simply put in whatever they like. In this very thread, people are telling others to double spec sheet amps on all funwheels, and no one reading it will see a reason not to or be given instructions on what they should do instead if they want to be safe. i feel this information should be added to the article that contains every other important setting that is critical to batter safety except for some reason this one, since that already stands as a largely complete repository for such haystack needles and makes sense as a location to send people looking for the *I guess* important information about doubling spec sheet amps. I pointed out that funwheel is telling people to do that, and I asked what the consequences will be. If this is dangerous then you remaining mute on that is either allowing an inevitable catastrophe to happen, or at the very least quite confusing as to wether it's ok to do that. With great power comes great responsibility, and letting the culmination of all of the comment threads on this video be somewhere between silence and a scavenger hunt seems like it would land somewhere between irresponsible and callous indifference to an inevitable across the board funwheel disaster. If it is dangerous as you say, ipso facto you are also saying funwheel is instructing dangerous settings. I understand not wanting to put funwheel on blast and state that explicitly, but there's not middle ground there, and the bush can't be beat around if indeed this is as unequivocally a no-no as I get the impression it is. and I don't call you out out of insolence here, but I look up to you for both your commitment to safety and the information you provide that facilitates a broadly safer community. I have incredible respect and esteem for you, and consider your contributions to this scene every bit as valuable and beneficial as dado and nico's, I probably should just delete this, but I think of all the other people that will ever follow these threads and, like I said, power/ responsibilty. I can't drop it if one more comment might be all it takes for the community to understand implicitly that they need to not to set their current limits as +70A/-70A and what to instead. And selfishly, I want to continue to see you as the role model and personal hero I do and it would be a personal disappointment to have ended this dialog without this comment. I know you don't owe anyone your knowledge or expertise, but you're the only one who has it, and i know it's not your job to save every bigwheel yahoo from going dr strangelove, but you have done a great job at it even if isnt your obligation to do so. And maybe what funwheel is instructing is fine and I'm just ignorant as to why. But I don't want to be fundamentally incorrect about wether or not the 70A doubling of the p42a's 35A continuous discharge spec is dangerous or not. Maybe there is some sort of protective circuit built into FW that makes it safe. If so, I want a similar circuit. Either way, it seems there is a benefit to further elucidation here. Much love And maybe a better way to ask about the 300a esc limit, or even the focers 250A limit would be to say: I don't understand how that much current could be requested without doubling or more on parallel amp dis charge statistics nor do I understand how it could be delivered with 25-45v max current limits. Are the current upper bounds of ESCs realistically attainable in a safe way during real world application, if so, how and for how long?
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