Trick and Trail VESC Package

by Mike Silberstein (send questions, comments, requests to [email protected])

Trick and Trail Package was developed based on Float Package 1.2 by Surfdado and Nico for self-balanced boards. It departs from the traditional PID control scheme that is rooted in the balance robot design. This is replaced with a user defined, current output curve that is based on board pitch. This allows for an infinite number of throttle/braking curves that gives the user the ability to truly tune the board how they want.

This package has been improved thanks to the contributions of Lukas Hrazky with Refloat.

READ THE WIKI https://github.com/Izzygit/TrickandTrailReleases/wiki

Features

• Pitch Tune - Current output defined by a series of points, input by the user.
• Roll Tune - for acceleration and braking, to improve board response.
• Yaw Tune - for acceleration and braking, to improve board response.
• Surge - high current response to help prevent nosedives.
• Traction Control - reduce free spin in the air.
• Sticky Tilt - accurate, manual board level control with a remote.
• Dynamic Stability - faster board response at higher speeds or with a remote.
• Alternative proportional gain user inputs for pitch.
• Optional independent brake curve for pitch.
• High Duty FOC Tone - high speed warning.
• High Current FOC Tone - instant, high torque warning.

Default Settings

Default settings are based on 20s battery, Hypercore (Future Motion motor), and Little Focer v3.1 set up. Here are more details on the default settings:

• Pitch Tune - The default pitch tune is a simple beginner tune using only TNT Cfg->Acceleration kp0, kp rate, current 1 and pitch 1.
  • For a trick or trail tune you will want a lower kp0 and gradually increasing pitch angles and currents.
  • See TNT Cfg->Braking for an example trail riding tune.
• Roll Tune - The default roll tune is very loose and moderate for easy, deep carving.
  • To make the roll tighter and more race-like, decrease Level 2 Roll Angle.
  • To make the tune less aggressive decrease Roll Kp.
  • To make the tune less agile at low speed reduce the low speed maximum scaler.
  • To adjust the agility at high speed change the high speed maximum scaler.
• Yaw Tune - The default yaw tune is loose and moderately aggressive
  • To make the yaw tighter and more race-like, decrease Level 1 and Level 2 Yaw Angles.
  • To make the tune less aggressive decrease Yaw Kp.
• High Current
  • High current conditions are based on 150 peak amps, 30 battery amps, and hypercore motor.
  • Changes must be made for higher current motors like the cannoncore and superflux.
• Surge
  • Disabled by default for safety.
  • Set your high current section first.
• Traction Control
  • Decrease Transition Condition and increase End Condition for looser landings and less wheel spin.
  • Increase ERPM filter frequnecy for a faster response, decrease to control wheel spin for longer air time.
  • Traction Braking disabled by default.
• FOC Play Tones
  • Disabled by default because of potential issues with Absolute Max Motor Current. See warning in the help text.
  • Riders with cannoncore or superflux motors should set high current conditions before using high current FOC tones.

For more instructions on setting up your board please refer to the Set Up Guide. https://github.com/Izzygit/TrickandTrailReleases/wiki/Set-Up-Guide

Change Log

1.5

• This version requires 6.05 firmware to fuction properly
• Fixes/Improvements
  • Testing and support for higher package loop frequencies.
    • Traction Control Start Acceleration help text updated.
    • Traction Control Scale ERPM help text updated.
    • High Current Filter Frequency help text updated.
    • Changed parameter name Specs->Loop Rate to Package Loop Frequency. Updated help text.
  • Traction Control Braking
    • Added new conditions to engage traction control braking
      • Vq and Iq comparison to confirm FOC braking
      • Battery current less than zero to confirm regeneration
    • Removed start and end delay parameters as they are no longer required
    • Changed AppUI debug to show battery current and end conditions after 1 second of engagement
    • Added new end condtions to AppUI debug
  • Traction Control
    • Changed default start acceleration from 29 ERPM/ms to 50 ERPM/ms to allow for higher package loop frequencies by default.
    • Added Hold Period configurable parameter which allows the user to control the period between traction control engagements
  • Surge/High Current
    • Added Current Filter Frequency parameter to allow the user to change the low pass filter frequency on motor current which is necessary for for higher package loop frequencies
    • Changed default Current Filter Frequency from 3 to 5 Hz.
    • Changed default Min ERPM for surge from 1500 to 2000.
  • Increased the voltage threshold that designates a charging situation from 0.1V to 0.3V to avoid nuisance activations
  • AppUI will now display the stop condition as TRACTN CTRL if traction control is active when the board is deactivated

1.4

• This version requires 6.05 firmware to fuction properly
• Version 1.4 parameters are not compatible with v1.3 and will be set to default. Screenshot your tunes to save.
• Features
  • New Feature - Traction Control Braking (beta)
    • Utilizes VESC 'set brake' fuction to apply brake current with no wheel spin
    • Parameter that allows traction braking only when a minimum nose down angle is requested via remote
    • Parameter for minimum ERPM
  • Traction Control Improvements
    • Added low pass filter to ERPM which is used to calculate motor acceleration.
    • New parameter to adjust low pass filter frequency.
    • Now End Conditions consist of Transition, End and Hold conditions
    • Absolute value of motor acceleration must be less than Transition Condition to allow end condition
    • Absolute value of motor acceleration must be greater than End Condition to end traction control
    • Absolute value of motor acceleration must be less than Hold Condition to allow another traction control engagement.
    • New parameter allows for the termination of traction control when a pitch angle threshold is met.
    • Removed intermediate time outs and changed traction control to 1 second time out.
    • Added conditions for traction braking.
  • FOC Play Tones
    • FOC play tones now replaces haptic buzz.
    • Available in the Safety Alerts menu.
    • Be sure to read the warnings in the help text concerning Abs Max Current.
    • New parameters allow for frequency and voltage (volume) adjustment for high current and high duty tones
    • Beeper is now replaced with FOC play tones with the following alerts implemented
      • Duty cycle within 10% of tiltback duty cycle- fast triple beep, ascending pitch
      • High voltage - slow triple beep, ascending pitch
      • Low voltage - slow triple beep, descending pitch
      • High motor temp - slow triple beep, single pitch
      • High fet temp - slow triple beep, single pitch
      • New feature fet/motor temp recovery, when 10 degrees below tiltback temperature- fast triple beep, ascending pitch
      • New features Mid/Low Range Warnings - slow triple beep, descending pitch
      • Footpad disengaged above 2000 ERPM - continuous single pitch
      • On write configuration - fast triple beep, single pitch (only when idle)
      • Idle beeper after 30 minutes - slow double beep, single pitch
      • New feature charged alert - slow double beep, single pitch
    • New parameter to adjust beeper volume.
    • Added more Last Beep Reasons to AppUI to identify the new beep features.
  • Simple Start now has a configurable delay after the board has been disengaged, Simple Start Delay, in Startup
  • Quick Stop now has an on/off toggle, configurable ERPM and pitch angle, in Stop
• Fixes/Improvements
  • Continued code refactoring
  • Changed default pitch tune to Pitch Kp0=20, Pitch Kp Rate=0.6, Pitch 1 Current=100, Pitch 1=3.
  • Renamed menu Safety Tiltback/Alerts to Safety Alerts and reorganized
    • High voltage and low voltage thresholds moved from Specs to Safety Alerts
    • Enable beep on sensor fault moved from Specs to Safety Alerts
    • Enable beep (general) moved from Specs to Safety Alerts
  • Footpad sensor ADC1 and ADC2 voltage thresholds moved to Startup menu.
  • Added a list of end conditions to AppUI for Surge and Traction Control debugs.
  • Added a timer to AppUI to show the last time Traction Control Braking was used.
  • Increased ERPM required to engage idle brake to 10.

1.3

• Version 1.3 parameters are not compatible with v1.2 and will be set to default. Screenshot your tunes to save.
• Code refactored thanks to contributions from Lukas Hrazky, author of Refloat.
• Features
  • Yaw
    • Yaw kp curves, similar to the roll kp curves, modify the current output based on yaw input.
    • Instead of using angle, like pitch and roll, yaw is measured in angle change per second (how quickly you rotate the board).
    • Minimum ERPM limits yaw response at low speeds.
    • New Yaw menu next to Roll
    • New debug section in AppUI is toggled in Specs tab, allows for accurate yaw tuning.
  • Traction control overhaul
    • Changed traction control inputs/outputs for motor acceleration to ERPM/ms from ERPM/cycle.
    • Changed the minimum delay between traction control activations from 200ms to 20ms
    • Added a new end condition to handle an edge case that would not exit traction control correctly.
    • Remove drop condition from traction control deactivation conditions.
    • Changed the names of parameters to Start Condition and End Condition. Previously, Wheelslip Acceleration Trigger and Wheelslip Margin.
    • End condition can now be negative.
    • Removed parameter Wheelslip Acceleration End.
    • New debug output in AppUI counts how many traction control activations in the last 5 seconds.
    • Changed timeouts from 500ms for traction control, 180ms for transition condition 1, and 200ms for transition condition 2 to 300ms, 210ms, and 220ms respectively.
  • Dynamic Stability
    • Added new parameter Ramp Rate Down. Default 5.0 %/s. Prevents nose dip feeling when reducing speed.
  • Roll
    • Added high speed scaling section to increase or decrease roll kp at higher speeds.
• Fixes/Improvements
  • Some parameters changed to integers to reduce packet size.
  • Some features and parameters were removed to make room for new features.
    • Haptic buzz for temperature and voltage
    • Haptic buzz for duty and current is now on/off. Audible2 is the haptic type.
    • Startup roll angle hard coded to 45 degrees.
    • Fault delay roll is now the same as fault delay pitch, called fault delay angle.
    • Feature start up clicks is no longer available.
  • Fixed a bug that would prevent high current haptic buzz if surge was engaged.
  • AppUI now displays the following for state:
    • when idle... "READY-" and last stop/fault reason
    • when running... "RUNNING-" and tiltback reason
    • in traction control/wheelslip... "WHEELSLIP"
  • Readme format updated for 6.05
  • Sticky tilt no longer "remembers" tilt angle after dismount. Resets setpoint to zero every time.

1.2

• Version 1.2 parameters are not compatible with v1.1 and will be set to default. Screenshot your tunes to save.
• Features
  • Haptic Buzz
    • Adopted haptic buzz implementation from Float Package 2.0
    • Overcurrent haptic buzz modified to be instantaneous instead of continuous. Now called High Current.
    • High Current haptic buzz now has a user input duration to limit continuous buzz in high current situations.
    • BMS haptic buzz not implemented yet.
  • New Section "High Current" in Tune Modifiers
    • Allows the user to configure the maximum current of the motor
    • Adjust max current for higher duty cycles
    • Haptic buzz will activate at a user input margin from max current, if high current haptic buzz is enabled
    • Surge will activate at the max current, if surge is enabled
    • User input minimum ERPM implemented to prevent surge and/or haptic buzz in low speed situations.
  • Surge Overhaul
    • Changed surge trigger from pitch differential to high current, configured in the High Current section
    • Changed surge end condition to be based on a user input pitch to allow more flexible and stronger surges.
    • Adjustable surge ramp rate for more powerful boards.
  • AppUI Overhaul
    • Debug Overhaul
      • New options on Specs tab allow for different debug text on the AppUI screen.
      • Traction control debug
      • Surge debug
      • Tune debug. This includes pitch kp, stability, and roll kp information previously under Tune
    • New Trip data replaces Tune
      • Monitors board state to determine when the board is idle and displays ride vs rest time.
      • Ride/rest time is used to correct RT data for better ride data including current, speed and power averages.
    • Added last beep reason from Float Package 1.2 to AppUI screen
• Fixes/Improvements
  • Dynamic stability now works while riding switch
  • Fixed a bug originating in 1.1 that prevented traction control while riding switch
  • Default settings are now based on 20S Hypercore configuration (30A battery, 150A peak)

1.1

• Version 1.1 parameters are not compatible with v1.0 and will be set to default. Screenshot your tunes to save.
• Features
  • Dynamic Stability
    • Increase pitch current and pitch rate response (kp rate) at higher speeds or with remote control.
    • Found in the tune modifiers menu.
    • Speed stability enabled by default
    • Enabling remote control stability disables remote tilt.
    • New indicators on AppUI for relative stability (0-100%) and the added kp and kp rate from stability applied to the pitch response.
  • Independent braking curve
    • New menu "Brake".
    • Disabled by default.
    • Uses the same layout and logic as the acceleration menu.
• Fixes/Improvements
  • Changed name of "Pitch" menu to "Acceleration".
  • Changed name of "Surge / Traction Control" menu to "Tune Modifiers"
  • Removed limitations on pitch current and kp that only allowed increasing values. Now decreasing or negative values are allowed. Pitch must still be increasing.
  • Added a significant digit to the first two pitch values on the acceleration and brake curves for more precision.
  • Reorganized the AppUI screen.
  • Cleaned up AppUI to remove unused quicksave buttons.
  • Updated traction control to remove false start scenario.

1.0

• Initial release.