Balancing controller for DIY mono wheeled skateboard.
Supported hardware: CPU: STM32F103CBT6 Flip32 or Naze32 control boards.
I run it with: VESC ESC and my custom firmware. You can run with vanila VESC in FOC mode.
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.
Wiring foot pad 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 10k resistor from RC_CH1 to ground. (Same for other side, RC_CH2).
- Main board Flip32 Rev5
- ESC VESC
- Hub motor with tire 36v 500W 11in
- 2x5s 4000mAh lipo
Frame build log: http://imgur.com/a/ALTTR
Use at your own risk. No guarantees. This software is not bug-free. Self balancing vehicles are inherently unstable.