USB Configuration Programming

Commands

For Advanced Users and diagnostics. A variety of conditions can be changed with the USB-C terminal. Remove the USB-C cover and connect the controller to a PC or Android phone with a Serial Terminal app.

Function	Arguments	Comments
DFU	None	Enter bootloader mode for firmware upgrades
Config	None	Print out the current config
Stopcode	None	Prints the last stop code from Cruise Cancel event. See Kill Conditions. Memory lost on power.
Debug	None	Start/Stop printing Debug messages. While cruise is active: 3 data fields are: cruiseSetPoint, CAN_Rear_Wheel, output_throttle. Use for custom tuning PID.
Reset	None	Reset config to default values.
Help	None	Print Help, Shows Firmware version
Wheelx	1	Adjust the wheel speed sensor factor. Change for custom applications or extreme tire changes.
SpeedINC	30	Adjust the amount to increase speed with a single press of the INC/DESC buttons. Units are KPHx10, default value is 30 = 3.0 KPH
PID	22 3 0	Adjust the PID gain
tmax	60	Adjust the Maximum throttle limit. Units are 1%

Examples:

speedinc 10

The above command will set the new speed increment to 1.0 kph.

PID Tuning

Command to read values: CONFIG

Command to set new values: PID 200 15 00

The above command will set the PID controller with values of P=200, I=15, D=00 For tuning, Keep P value as high as possible until oscillation start, then back 15%. For I value, Adjust to preference until bike maintains speed over hills and bumps. For D value, keep at 0 unless directed by staff.

Our system uses PID with Proportional on Measurement, the following curves can be used to tune feedback.