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
    • 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