I assume he’s wondering whether orientation of the IMU matters for a OneWheel. Unless it has a calibration step, I would assume it very much matters. But what do I know?
2 Likes
Whoops you’re right, thought I was looking in a different thread for some reason
1 Like
No
Yes, but if you use sensors, redo the motor detection when you do this. Without sensor wires, no need to redo detection.
Only if you’re using the IMU. You can adjust that in software though, but you still need one of the 3 axis of the ESC to line up with the board’s “pitch”. (exempli gratia: not at a 45 degree angle to any axis)
2 Likes
Appreciate all the answers. Coming from a quadcopter background wasn’t sure about the VESC caring about being rotated and motor phase wires but I can say after several rounds of app and motor configuration I have it working. I get the hall sensors report motor position so it makes sense the phase wires do not matter. It’s a bit more jerky than my XR. What is everyone using for PIDs???
1 Like
Tuning the balance app is an art form in a way.
I’d head over to the Funwheel discord, there are a lot of folks in there and resources about tuning them, probably more so than here.
2 Likes
My last DIY build was a dual motor CARVON skate board years ago. This balance control is like a mix of that and quadcopter tuning. It would be nice if floatwheel had a centralized list of resources and build/calibration vids on the actual website. Thankful I found this thread!
1 Like
Here are a few tunings others like:
P=4.125
I=0.0075
D=1512.5
Start Angle=8.0
Ramp Up=2.0
Current Boost=2.0
Strength=0.2
Start Current Threshold=30.0
Tiltback Angle Limit=2.0
Max Tiltback Speed=1.0
Current Filter=0.950
Strength=1.5
Tiltback Angle Limit=2.0
Roll Angle Threshold=3.0
ERPM Threshold=500
Max Tiltback Speed=5.0
Speed Boost %=50
Speed Boost Max ERPM=10,000
This one comes from @surfdado; you can import this directly into the tool if you save it as an xml file:
<?xml version="1.0" encoding="UTF-8"?>
<MCConfiguration>
<pwm_mode>1</pwm_mode>
<comm_mode>0</comm_mode>
<motor_type>2</motor_type>
<sensor_mode>0</sensor_mode>
<l_current_max>70</l_current_max>
<l_current_min>-70</l_current_min>
<l_in_current_max>40</l_in_current_max>
<l_in_current_min>-40</l_in_current_min>
<l_abs_current_max>150</l_abs_current_max>
<l_min_erpm>-100000</l_min_erpm>
<l_max_erpm>100000</l_max_erpm>
<l_erpm_start>0.8</l_erpm_start>
<l_max_erpm_fbrake>300</l_max_erpm_fbrake>
<l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
<l_min_vin>8</l_min_vin>
<l_max_vin>57</l_max_vin>
<l_battery_cut_start>38</l_battery_cut_start>
<l_battery_cut_end>36</l_battery_cut_end>
<l_slow_abs_current>1</l_slow_abs_current>
<l_temp_fet_start>60</l_temp_fet_start>
<l_temp_fet_end>70</l_temp_fet_end>
<l_temp_motor_start>85</l_temp_motor_start>
<l_temp_motor_end>100</l_temp_motor_end>
<l_temp_accel_dec>0.15</l_temp_accel_dec>
<l_min_duty>0.005</l_min_duty>
<l_max_duty>0.99</l_max_duty>
<l_watt_max>1.5e+06</l_watt_max>
<l_watt_min>-1.5e+06</l_watt_min>
<l_current_max_scale>1</l_current_max_scale>
<l_current_min_scale>1</l_current_min_scale>
<l_duty_start>1</l_duty_start>
<sl_min_erpm>150</sl_min_erpm>
<sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
<sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
<sl_cycle_int_limit>62</sl_cycle_int_limit>
<sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
<sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
<sl_bemf_coupling_k>600</sl_bemf_coupling_k>
<hall_sl_erpm>2000</hall_sl_erpm>
<foc_f_sw>20000</foc_f_sw>
<foc_dt_us>0.12</foc_dt_us>
<foc_encoder_inverted>0</foc_encoder_inverted>
<foc_encoder_offset>180</foc_encoder_offset>
<foc_encoder_ratio>7</foc_encoder_ratio>
<foc_encoder_sin_gain>1</foc_encoder_sin_gain>
<foc_encoder_cos_gain>1</foc_encoder_cos_gain>
<foc_encoder_sin_offset>1.65</foc_encoder_sin_offset>
<foc_encoder_cos_offset>1.65</foc_encoder_cos_offset>
<foc_encoder_sincos_filter_constant>0.5</foc_encoder_sincos_filter_constant>
<foc_sensor_mode>2</foc_sensor_mode>
<foc_pll_kp>2000</foc_pll_kp>
<foc_pll_ki>30000</foc_pll_ki>
<foc_observer_gain_slow>0.05</foc_observer_gain_slow>
<foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
<foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>
<foc_openloop_rpm>1000</foc_openloop_rpm>
<foc_openloop_rpm_low>0</foc_openloop_rpm_low>
<foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
<foc_sl_openloop_time_lock>0</foc_sl_openloop_time_lock>
<foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>
<foc_sl_openloop_time>0.1</foc_sl_openloop_time>
<foc_hall_interp_erpm>200</foc_hall_interp_erpm>
<foc_sl_erpm>4000</foc_sl_erpm>
<foc_sample_v0_v7>0</foc_sample_v0_v7>
<foc_sample_high_current>0</foc_sample_high_current>
<foc_sat_comp>0</foc_sat_comp>
<foc_temp_comp>0</foc_temp_comp>
<foc_temp_comp_base_temp>25</foc_temp_comp_base_temp>
<foc_current_filter_const>0.1</foc_current_filter_const>
<foc_cc_decoupling>2</foc_cc_decoupling>
<foc_observer_type>0</foc_observer_type>
<cc_startup_boost_duty>0.01</cc_startup_boost_duty>
<cc_min_current>0.05</cc_min_current>
<cc_gain>0.0046</cc_gain>
<cc_ramp_step_max>0.04</cc_ramp_step_max>
<m_fault_stop_time_ms>500</m_fault_stop_time_ms>
<m_duty_ramp_step>0.02</m_duty_ramp_step>
<m_current_backoff_gain>0.5</m_current_backoff_gain>
<m_encoder_counts>8192</m_encoder_counts>
<m_sensor_port_mode>0</m_sensor_port_mode>
<m_invert_direction>0</m_invert_direction>
<m_drv8301_oc_mode>3</m_drv8301_oc_mode>
<m_drv8301_oc_adj>31</m_drv8301_oc_adj>
<m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
<m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
<m_dc_f_sw>25000</m_dc_f_sw>
<m_ntc_motor_beta>3990</m_ntc_motor_beta>
<m_out_aux_mode>0</m_out_aux_mode>
<m_motor_temp_sens_type>0</m_motor_temp_sens_type>
<m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
<m_hall_extra_samples>1</m_hall_extra_samples>
<si_motor_poles>30</si_motor_poles>
<si_gear_ratio>1</si_gear_ratio>
<si_wheel_diameter>0.27</si_wheel_diameter>
<si_battery_type>0</si_battery_type>
<si_battery_cells>12</si_battery_cells>
<si_battery_ah>5</si_battery_ah>
</MCConfiguration>
3 Likes
Hey everyone,
I just have a few questions about the floatwheel and whether not It would be worth it for me to drop the $600+ dollars to buy the parts.
I’m a high school student heading into college next year and I figured a onewheel would be a perfect way to get around campus, and it just looks insanely fun.
I’ve been reading about the floatwheel because I have a good amount of experience coding and would like to be able to customize the pushback and settings the way I like it. It is also cheaper than a regular one wheel.
However, I have also seen on multiple videos and forums that the battery pack does not supply enough voltage to keep up with the regular onewheels, but I cannot seem to find any reference to what the max speed actually is with this thing.
Does anyone have any statistics on how the floatwheel performs compared to the regular pint?
And will it be able to keep up with me going uphill with a backpack on?
Or should I just wait till a newer version comes out, or just bite the bullet and buy the pint?
Thanks
Does the Bluetooth module allow connecting via VESC tool so you don’t have to direct connect to make changes? I’m running it in OSX and can see the Bluetooth module but won’t stay connected.
This is usually a misconception. Unless you have all the necessary tools and random bits required to build one, it can cost just as much if not more than a pint.
The stock battery pack is pretty bad, you should find a battery builder to make a proper battery pack for this. Specifically a higher current cell (P42A).
The experience is still not as refined as the pint. The firmware is getting better but it lacks some of the characteristics of a Future Motion Onewheel. Speed wise I believe these go around 16mph on 12s.
Yeah if you get a good battery and tune it correctly.
Depends what you are looking for, if you want a DIY project or you hate future motion, this is for you. It’s going to take a lot of time and effort to get right though, so if you just want something that is fairly reliable and just works get a pint.
2 Likes
A funwheel will be much harder to carry than an esk8. For commuting around campus, I’d go for a single drive esk8 or a prebuilt hub board honestly.
5 Likes
Yeah I’m a college student and I don’t really use my floatwheel as my all day commuter, it’s heavy on the arm with a handle, so i’ts good for the days when you know you won’t move a bunch during the day (or you have a locker to store it securely)
I agree with @b264 (except for the budget hub motor board 
).
The Floatwheel is cool, but currently it’s very much a PROJECT. It’s not something you take out of a box, put together and then ride easily. Especially if you haven’t ridden a Onewheel at all. It’s a problem solving puzzle, very much a project based learning thing.
For quick rides, I use my Pint. That’s on loan now, so I’m going with Brian’s suggestion and planning a small single motor cruiser board to take me down the street and back for quick groceries or to go to the post office.
4 Likes
Yeah the DIY single would be my preferred option but for some reason there seems to be a widespread avoidance of single drive, and I think it’s because it’s not symmetrical so folks think it’s not good.
Single drive can kick some serious ass when done correctly. (It can also be a massive hooptie if the belt isn’t aligned well or the Kv, wheel size, and voltage aren’t matched well, or if the motor is too small or weak, etc etc.)
But definitely underrated.
The DIY single drive, while better, will probably be more expensive than the budget china prebuilt hub board, and whenever college is mentioned, I assume the person needing the board is “broke af”, because that’s how it typically is being a college student.
5 Likes
My very first build was a single 6374 build with Maytech 4.12 vesc, and I still think back to how much friggin’ POWER that thing had. Got some really decent range out of it too. Was by far my lightest build to date.
3 Likes
I personally hate the single drive torque steer, and the loss of traction on turns
It is possible that with skinnier trucks you may not have as much of a problem, but I have pretty much only ridden 218+ for most of the time
My sister’s is a single drive on 180s and it still has the loss of traction problem
Here’s my take on the single drive after using a single drive board for 2 months.
- Shitty brakes. It sucks. -35 batt amps and I still can’t stop if there’s any incline
- Bad traction. If it’s even moist, don’t go over 15mph.
- Live somewhere flat.
- Either get a big motor or it’s gonna get hot.
2 Likes
Yeah that’s the worst of single drive in my opinion
4 Likes
Hi!
Any chance that some of you have backup of stl files for floatwheel? I just ordered the cnc kit but as @JoeyZ5 mentioned, their CS is not too responsive and the discord invitation link doesn’t work anymore…
I would like to start printing all the parts while waiting for the shipment (I hope it will be shipped as the page, discord and everything seems a bit abandon).
I will appreciate any help with stl’s!
2 Likes
1 Like