I’m not sure if the lever arm effect is 100% eliminated by this
It totally is. The only way for the wheel to put load on the actuator is to torque the hanger around the axle, which would be the drive system.
Hopefully not, the setup is concentric to the axle so there shouldnt be too much load there, and im going to be adding some TPU mounts to reduce vibration to the servo.
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Automatic adjustment based on speed is indeed one of the goals i have, just need to figure out how lol. Right now the plan is to run a small external raspberry pi or arduino to read the telemetry data off of uart to get speed and compute the required servo output.
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Well either way I’m super hyped to see this project through!
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Assuming you don’t crash it into something and smash the servo in it looks solid.
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Hopefully so lol, the servo is a relatively stout hitec HLS12 50210, so it should be pretty durable.
Sick, lemme know if you want any help with hardware or (arduino) software, cuz this is exactly my wheelhouse.
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Software help would be great, hardware wise unless you have a cnc machine and can work on a shoestring budget probably not 
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Haha sorry I meant electronics hardware. You’ll need to design your speed sensor in conjuction with the abilities of the electronics in mind.
Well, im planning on tapping into the vesc telemetry data as that uses the hall sensor already in the motor and is capable of calculating speed from that haha.
Arduino, for sure. It sounds like all you need is one serial port and two digital output pins, so the smallest ones would probably be fine.
If you want a hand with the software side of things just let me know. I haven’t done anything with VESC but I have done some stuff with other serial protocols, and with RC servos.
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I have PTSD from arduinos, and the extra power of a raspberry pi helps me with validation and testing if i can get it set up haha.
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I too have had that idea since 2018, but one of the problems is that the motors will move up and down as the rear changes angles. For most setups I think the clearance wouldn’t be enough. In my mind its only practical with small gear drives and inrunners hugging the hangar.
Whats your plan to get past this issue?
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Front adjustment only haha.
That and this being designed around IDEA drop brackets does increase the space i have to work with a fair bit.
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I see. The rear truck has a much bigger effect on stability but maybe with a low enough front angle you can increase the operating window of the trucks quite a bit.
I’m mostly curious to know if you find it intuitive, or if it throws out your balance having the trucks steer differently at different speeds.
Glad to see someone trying this. Good work!
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probably many setups could accomodate 30° of motors movement, if they get to stick out the back?
rear seems more important.
Rear would be more important, but im just gonna have the rear truck biased for a very low angle and have the front sweep through a range of 30 to 60 degrees. Its much simpler.
I think this could end up with a good feel. it’s odd getting all your steer from the front at low speed but you get used to it. ( had a proto setup at like 50/10 ) 60° should turn well.
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