My first day of riding my TiltWheel was super successful I think :blobcat_nwn:​ Here's a video for you. I promise I can go faster on a straight run! More practice to do yet though. Maybe tomorrow I'll take it outside.

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I think there's still some tweaking to do on the PID terms, it seems to have a little high-speed oscillation when close to level, and as I get better I'll want to bring the speed up some more with P. Having the bluetooth module on the VESC is amazing, I was able to tweak the values as I went, without having to plug anything in.
I need to diagnose what is causing it to cut out after going up a light slope. It seemed to happen after some time of battery use, so I think perhaps it's either prolonged overcurrent or undervoltage. Apparently I should be able to get the logs off the phone app to find out what happened.

Anyway, I'm stoked to have three years of planning, brainstorming, CAD, programming, learning, machining, 3D printing and tinkering finally result in a device that's just as cool as I dreamed of!

I got the cutout issues sorted. The footpad safety switch was too sensitive. I increased the tripping threshold and added a few milliseconds delay so it takes more than a few samples to cut out. Not so much that it’ll careen into nearby ankles though.


Congrats..That is so cool!

I noticed one thing that was similar to rola bola and unicycle that might be of use to you: Despite instincts, your balance seemed more stable when you weren't looking down.

@RussSharek yes definitely! It wasn't seen here and I was having issues with it cutting out (undervoltage I think) and the small space made for low speed but I did several longer unfilmed runs along the full length of the large carpark, and was discovering how much it is a matter of keeping your stance natural and just pointing your body to where you want to go -- the steering and balance was very natural after that. Even aiming for <1m wide gaps in speed bumps became easy when I just looked to the place I wanted to go.

@RussSharek What's really fascinating is how the changing of speed is almost necessarily subconscious. Trying to intentionally push the front foot down to speed up would just lose balance. But when in a good balanced state, it was as natural as just 'wanting' to go faster or slower -- couldn't even say what I did differently. An amazing feeling.


The entire experience sounds eerily similar to my learning unicycle. Once I got past the basic problem of trying to stay on the wheel it started to immediately feel natural.

I've been told "look where you want to go" a lot. To support the idea, it took me a looooong time to ride in a straight line and look anywhere but in front of me.


You also have me sorely tempted to try one of these, to see how many of the skills are translatable.

@RussSharek I think it would be quite translatable. This only took me ~2 hours of practice after being a very good ice skater but barely able to stay on a skateboard. It's not a difficult skill compared to many.


I'm still amazed by both what you've built and how well it works.

@RussSharek thanks! The software side was basically all done already by a few very nice people contributing to the open source VESC firmware. But I am honestly very proud of how i was able to design, CAD and construct quite a complex device out of simple parts. Barring the wheel, ESC, and battery (although I DIYed that too), everything was just regular hardware-store materials shaped with hobbyist tools, and a 3D printer.


I think you might be using the word "just" about technical projects the same way @avalon and I sometimes use it about acrobatic stuff. :)

@s0 That's awesome! TiltWheel + jacket + fingerless gloves is extremely cyberpunk

@gbrnt can't wait to be on it in my black long leather jacket and sunglasses :blob_sunglasses:

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