I think it should be feasible… not easy but feasible. (to start the self balance mode while moving)
Some people seem to be able to manual under power just fine, and this should make it “easier”
what I’m actually saying is the IMU could freak out say if you’re going 20mph and shift the board into manual mode… know what I mean?
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I’m gonna try it on the bike using the balance pro
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it would have been initialized on startup of the vesc tho right? I don’t see it freaking out. idk @NuRxG chime in
You could set a limit for it to not engage self-balancing over a certain speed if you’re iffy bout’ it.
I do like that you don’t need any pressure sensor for that!
what would you think about it being able to “stand up” using acceleration and enable self balancing at the correct time?
or is there another way you would do it?
Pegs??
I’m planning on a breakout board with it’s own IMU that will send signal to the board based on IT’S balance function, or send signal to the vesc based on trigger position
either or
all the VESC has to do is interpret the throttle signal
I’f someone wants to write the code to do that I’m all ears… I haven’t coded in C in years
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Yes yes yes 
No, this can probably be an all-software fix.
I think if you connect the second servo (PWM, “PPM”) channel to the ADC1 pin on the VESC6 then you can probably do the switch in firmware
aka:
hold channel 2 and if you’re below XX speed then enter wheelie mode, exit normal mode
And you could connect trigger to channel 1 and thumbwheel to channel 2 if you’re a trigger guy
Or you could connect thumbwheel to channel 2 and trigger to channel 1 if you’re a thumb guy, and the trigger would activate wheelie mode instead, if below XX speed
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Make the remote and others will probably help 
I know I’ll probably take a whack at it
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I’d love a firmware solution… but as I said above I haven’t coded in C in way too long… then to do all the work in VESC programming, I’m afraid this is WAY above my paygrade… a hardware solution seems easy enuff to do and test, cheaply
elegant, NO
do-able I think YES
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Calling over @RomainOnWheels since he got this working on his build.
I think a separate board powered by 5v (or whatever most Vescs output) with an IMU and PPM out would be dope. I’d pay over $100 for this.
Also, check out his thread
PS: Do you think hall sensors have enough resolution for this to work well? I’m only asking because he used encoders.
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yes, think funwheel.
Isn’t what you want just a microcontroller?
Like a teensey, I wonder if they sell any with onboard IMU. Oh maybe for drone stuff!
I can’t program for shit is the problem lol
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Would you make the hardware yourself and pay someone $100 for the code?
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How could I have missed this thread?
I also think a simple microcontroller board would do the job. Typically, the Arduino Nano 33 IOT is very small, cheap and has an integrated IMU. The programming should not be too hard. It even has Bluetooth so you could make an app to tune the regulator PID gains directly from your phone!
The Hall sensors are definitely enough, because you are using current (~torque) control for the stabilization, not position control. The controller doesn’t even need to know the rotation of the wheels, it just computes the motor current depending on the board pitch angle.
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Thanks for finding it for me! “microcontroller with gyro imu” did not bring good stuff up on google.
Bluetooth for adjustments seems like a must!
Great explanation on the current control.
lol at your profile pic as well
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You could make some money selling these on here.
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Sounds like your setup needs a PID for yaw stabilization, as well as differential steering based on the roll angle. Controllers compatible with the VESC Tool already support all this 
, alex’s code does as well 
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I was riding an exway wave and piped a wheelie while riding due to how small the bloody thing is. Instantly reminded me of this thread.
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