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# Funwheel configuration

## Material

Thor300
Superflux mk2 HS
20s battery pack

## Resources

Latest firmware that you need to upload to your Vesc:
https://rb.gy/dgoypz

Funwheel Float Config XML file that you need to upload:
 https://shorturl.at/hjorA

## Steps

**Do NOT install Float Package beforehand**

### Flash bootloader
### Flash new firmware

### Setup Motor:
- EUC
- Next
- Large Outrunner
  - [x] Override Advanced
  - Sensor ERPM: 2000
  - Motor Poles: 30
- Battery type [ BATTERY_TYPE_LIION_3_0_4_2 ]
  - 20 cells
  - 6.000 Ah
- Gear ratio
  - Direct drive
  - Wheel diameter: 285 mm
  - Motor poles: 30
- Run detection
  - Do not detect other motors over CAN Bus
  - 
- Test forward and backward

### Motor CFG:

General
- Current
  - Motor current Max: 160A
  - Motor Max current Brake: -100A
  - Absolute Mac Current: 250A
  - Write
- Voltage
  - Battery Voltage cutoff start: 46V
  - Battery Voltage Cutoff End: 40V
  - Write
- Temperature [NTC 10K at 25C]
  - MOSFET Temp Cutoff Start: 70 C
  - MOSFET Temp Cutoff End: 80 C
  - Motor Temp Cutoff Start: 70 C
  - Motor Temp Cutoff End: 80 C
  - Write
- Cancel

### IMU
- IMU Configurator
  - Balance Skateboard
- Gyroscope Calibration
  - XYZ -> Wait for stable results
- Accelerometre Calibration
  - Accel X -> Find max
    - Move to the side 90degree
    - Wait to stabilize near 1
    - Save
  - Accel Y
    - Move to standing on the battery pack side
    - Wait to stabilize near 1
    - Save
  - Accel Z
    - Move to back flat (flipped 180)
    - Wait to stabilize near 1
    - Save
- Orientation Calibration
  - Roll offset
    - Maintain level
    - Wait for value to stabilize
  - Pitch offset
    - Maintain level
    - Wait for value to stabilize
  - Yaw offset
    - Raise front of OW (~45e)
    - Wait for 90 degree
    - Save
    - Level
Cancel

### Float Package

- Install the float package
- Apply XML
- Reboot

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