Hi there, my name is Micha and I am actively developing software for the xiaomi scooter motion control modules.
The project has originally started by Glenn (repo), I continued on his work based off of the V1.3 fork and started the V3.X releases.
My fork contains many quality of live features including but not limited to:
For a great installation reference and the legal aspect of this project I kindly refer you to the stepombouw.nl website or to the main telegram group.
Documents to carry with you can also be found on stepombouw.nl.
There are a few mentionably forks. I put them here as I believe that there is not a single best option for every use case. Maybe a different software works better for you than mine, and that is the most important thing in the end.
Here is an overview of the configuration options, what they do and the best value to configure them with. The options only hold for the latest release, but often they will be the same for older versions.
| Option | Default | Description |
|---|---|---|
| speedBump | 3 | Defines how much km/u increasment is detected as a kick. |
| minimumSpeedIncreasment | 6 | The least the speed should increase when a kick is made. Only when enforced. |
| enforceMinimumSpeedIncreasmentFrom | 16 | When surpassed, the above rule will be enforced. |
| lowerSpeedBump | 0.9875 |
Ensures that the speedBump will be lowered after certain speeds. speedBump * speed ^ lowerSpeedBump |
| forgetSpeed | 10 | After how much speed has dropped should the target speed be forgotten. |
| baseThrottle | 45 |
Used in the speed / throttle calculation. baseThrottle + ((requestedSpeed + additionalSpeed) / maximumSpeed * 188) |
| additionalSpeed | 0 |
Used in the speed / throttle calculation. See calculation above. |
| minimumSpeed | 7 | What is the minimum speed the vehicle should drive. Generally 2 km/u higher than actual value. |
| maximumSpeed | 27 | What is the maximum speed the vehicle should drive. Generally 2 km/u higher than actual value. |
| startThrottle | 5 | How much km/u should the vehicle surpass to start throttling. |
| kicksBeforeIncreasment | 1 | How many kicks should be made before the vehicle should increase it's speed. Only applied in the driving state. |
| breakTriggered | 47 | Sensitivity of the brake handle. Only change if you know what you are doing! |
| drivingTime | 5000 | Defines how long one boost should last after a kick has been made. |
| kickResetTime | 2000 | In what time span do multiple kicks need to be made before the counter is being reset. |
| kickDelay | 300 | How much time must there be between two kicks. Filters out false kicks after a kick has been made. |
| increasmentTime | 2000 | How long to wait for another kick before switching back to driving state. |
| historySize | 20 | Used to calculate the average speed. |
| THROTTLE_PIN | 10 | Arduino pin where throttle is connected to (only pin 9 & 10 is ok to use) |
Explanation of the multiple states and how the vehicle will act when one is active.
| State | Description |
|---|---|
| READY | The vehicle is waiting for the initial kick to be made and will switch over to the increasing state. |
| INCREASING | The vehicle is increasing in speed. The driver will need to make just a single kick to increase it's speed. If no kicks have been made in a certain time, the vehicle will switch over to the driving state. |
| DRIVING | The vehicle is driving at a fixed speed. When a driver makes a certain amount of kicks within a certain time, the vehicle will switch over to the increasing state. If no kicks have been made after a certain time, the vehicle will switch over to the driveout state. |
| BREAKING | The vehicle's brake handle has been pulled and exceeds a certain threshold. While this is true the module will lower the throttle to 0% and wait for the brake handle to be released. Once the brake handle has been released and the speed exceeds the averageSpeed + speedBump, the vehicle will throttle the current speed and the vehicle will switch over to the increasing state. In case the speed drops under the start speed it will switch back to the ready state. |
| DRIVEOUT | The vehicle has left the driving state as the driving time has exceeded. If the speed drops a certain amount, the last driven speed will be forgotten and set to 0. If the speed exceeds the averageSpeed + speedBump, the vehicle will throttle the current speed and the vehicle will switch over to the increasing state. In case the speed drops under the start speed it will switch back to the ready state. |
A few minor changes have been made, upgrading is not neccesary.
A few minor changes have been made, upgrading is not neccesary.
A few minor changes have been made, upgrading is not neccesary.
Skipped 3.3 due to number of issues. Upgrading is very much recommended.
The issues have been resolved. It is now possible to percentually lower the speedBump per km/u speed with the lowerSpeedBump option.
A few recommended values have been provided.
This is the first release of V3 (This variation of the firmware).
It is a proof of concept and works unexpectedly well. The two issues that exist in this build are:
Obviously, I encourage you to download the latest version of the software and to always keep it up to date.
For flashing instructions, I kindly refer you to stepombouw.nl.
Disclaimer: The use of older firmware version is strongly discouraged as they often contain bugs and don't act optimal.
| Version | Release notes | Download link |
|---|---|---|
| {{version}} | View release notes ({{version}}) | Download {{version}} |