Making Begode wheels safer: PWM tiltback with custom firmware

[Freestyler]

We are very excited to present you the next milestone in our effort to make Begode wheels safer. (previous step)

 

The wheels support tiltback at a fixed speed and they have a dynamic alarm (PWM).

I took up the task of combining the above and offer a dynamic tiltback that is PWM based.

It was a slow and difficult task that took 3 months to complete, but it was worthwhile result.

 

How does it work?

 

First of all, Begode wheels report their PWM value. This is the true duty cycle which means that it accounts for both RPM & current.  (proof)

 

The logic is simple and easy to understand:

When above the PWM limit, the tiltback speed is set to the current speed.

When below the PWM limit, the tiltback is disabled.

If you do hard leans the tiltback speed will be lower than when accelerating smoothly.

Light will strobe when above PWM limit.

 

You need to flash a custom firmware for this to work.

The firmware is just the stock firmware with the minimal changes required for the feature to work.

 

After you have flashed the firmware you can toggle the feature on or off from within euc-dash, but I plan to auto-enable it when the wheel powers on.

You will be able to disable it for the session, but the next time you power on the wheel it will be on. 

It needs to be human error proof if it's going to be trusted.

 

Next steps

I want to make begode wheels safer for everyone and by flashing few wheels here and there is not scalable.

Ideally we want Youtubers and distributors to pick this up and apply their leverage to Begode, so that wheels ship out of the factory with dynamic tiltback.

For now the feature is ported for most wheels. (rs, exn, nikola, tesla, mcm5) so I would appreciate people testing it and leaving feedback.

It's already tested by our local riders in mcm5, RS HT, nikola & ex.n.

 

 

Demo

For demonstration purposes I have set the PWM alarm at 50%.

The tiltback is smooth and never jerky.

 

 

I have few more recordings from people that have tried the wheel.

They had instructions to try and push the wheel and see how much above the 50% limit they could reach.

The maximum PWM recorded was 72%. That is 22% above the limit, but it was an intentional effort to push the wheel and ignore the tiltback.

 

Rider A owns a sherman and is an aggressive rider. He tried to do bursts  of hard leans

video log1: https://streamable.com/h9l5rm

video log2: https://streamable.com/681fzb

 

Rider B is one of (if not THE) the fastest riders on the world. Owns a monster pro and a speed record of 94 km/h (video proof)

She used brute force to push through the tiltback in a linear fashion.

video log: https://streamable.com/b8bewu

full tilt video: https://streamable.com/p56sts

 

Euc world support: https://euc.world/blog/dynamic-tiltback-in-begode-wheels-its-possible/

Edited December 14, 2022 by Freestyler

[Lefteris]

Thank you for presenting this and the work you have done on the firmware. 

Now it is really the time for big retailers to get a hold of this, make the gw/bg euc's safer for those who demand it, and maybe even push this to mainstream so Begode can implement an option thru their app. 

@Freestylerkeep up the good work, and we are gonna be here to test anything you release.

I personally tested on RS19 HT C38 board, with custom 50% pwm and it was so fun having my pedals tilt back to warn me, reminded me of the safety feature of the legendary Z10. Then I had pwm changed to 75% so the pedals will warn me earlier, cause I'm a heavy rider (118kg/260lbs). Its the best thing for my wheel and me as a rider!!👌 After 2 weeks of everyday riding with 75% pwm and tilt back is "the" best setting for me. 💪

Man I'd like to see this project go places 😊☺️

[Lefteris]

48 minutes ago, Freestyler said:

full tilt video: https://streamable.com/p56sts

 

When I see this, man ha, fully tilted back, she must have pushed it a lot 💪

Edited May 16, 2022 by Lefteris
Screenshot

[jtm94]

So the tiltback speed set in EUC dash is at what PWM% it kicks in or am I misunderstanding? How does one apply this dynamic tiltback?

Also my 84V MSX is reporting a voltage of 67V if that matters

[Freestyler]

I'm sorry for the confusion jtm94. I did a poor job explaining how to get the feature.

You need to flash a custom firmware for the feature to be enabled.

In order to flash the firmware you need to have a black controller that can be updated wirelessly.

If model code field is populated in euc dash, then you can flash a firmware with 99% certainty.

 

I have not created a public flasher, nor do I plan to distribute Begode's firmwares.

I can flash some peoples wheels here and there but it requires coordination with me.

That's why the end goal would be for wheels to ship directly with that feature.

Either through distributors or ideally from begode themselves.

Edited May 16, 2022 by Freestyler

[BleepBloopBlop]

Is there firmware for the EX-N C30 (high speed)?

[Lefteris]

19 minutes ago, BleepBloopBlop said:

Is there firmware for the EX-N C30 (high speed)?

It sure can be, but needs a deployment method from the source. 

Or if @Freestylercan help you with it 

[EMA]

interesting feature

[Freestyler]

1 hour ago, BleepBloopBlop said:

Is there firmware for the EX-N C30 (high speed)?

Yes. I have flashed it already on a local rider.

[mrelwood]

@Freestyler, this is BIG! I never had hopes in BG to add a functional safety tilt-back, but with the enormous task you have completed and the plans you mentioned, they just might! Very well done!

[RideRiskReward]

Is there a place that gives instructions on updating the firmware? 

 

[Planemo]

Apologies for sounding dim, I havent used tiltback features, but do GW/Begode and Veteran not have tiltback adjustment as stock? I thought they did, but clearly not?!

Or is the stock one based purely on speed and nothing else, like voltage/current availability?

[Freestyler]

22 minutes ago, RideRiskReward said:

Is there a place that gives instructions on updating the firmware? 

 

Not yet, I'm sorry. I'm flashing few wheels here and there but it is a very involved procedure.

I don't want to mass distribute firmwares and get Begode angry.

I want them to see the potential in this and implement it themselves.

10 minutes ago, Planemo said:

Apologies for sounding dim, I havent used tiltback features, but do GW/Begode and Veteran not have tiltback adjustment as stock? I thought they did, but clearly not?!

Or is the stock one based purely on speed and nothing else, like voltage/current availability?

You can set tiltback at a specific speed.

Let's say a wheel beeps at 50km/h at full battery and 38km/h empty.

At what speed do you set the tiltback?

50km/h? anything less than full battery and it's dangerous.

45km/h? anything less than half battery and it's dangerous.

38km/h? You leave all that performance on the table even when fully charged.

Also what happens if you set it at 50km/h and do a hard incline with 30% battery sag, but you thought you were full?

 

It was useless and that's why everyone disabled it. A dynamic approach like Kingsong & Inmotion does is more appropriate.

[redfoxdude]

@Freestyler This is very cool to see! I commend your efforts. It is very sad to me that Begode doesn't already have something like this in FW, as it seems to be a very reasonable feature. I've liked the speed tiltback on Gotways I've ridden in the past - it was not sharp at all, but was very effective at keeping me from exceeding the set tiltback speed (without pushing with real intention!), but as you said, it doesn't help once you start getting lower on battery. This would make it so much easier to stay safe as the battery get low. The flashing front light is a nice touch. 
I'm all for this PWM margin-based tilt-back, and I sure do hope Begode will be convinced to implement it.

[RideRiskReward]

how does this compare to safety margin in EUC world? 

 

[mrelwood]

1 hour ago, RideRiskReward said:

how does this compare to safety margin in EUC world?

All that EUCw can do is beep from the phone itself. This custom firmware does a dynamically adjusted tilt-back from within the wheel, without any pre-ride setting up.

[Panen]

This is so awesome!
I hope to be able to have this flashed on my RSHS.
Was used to having dynamic tiltback on my previous Inmotion wheel.

[Rawnei]

Can't you reach PWM limit on slow speeds? I'm thinking of steep climbs for example. If so then maybe an idea is to have a threshold for when this can activate so that it doesn't happen at low speeds.

[Lefteris]

PWM will come into place even at slow speeds, cause it measures more than speed. For example when the wheel hits a wall and you push it, pwm goes up!  

[Rawnei]

2 hours ago, Lefteris said:

PWM will come into place even at slow speeds, cause it measures more than speed. For example when the wheel hits a wall and you push it, pwm goes up!  

Yeah so I'm thinking there might be several scenarios where you don't want the tiltback, fooling around in skatepark, off-road, steep climbs, etc.

[Lefteris]

2 minutes ago, Rawnei said:

Yeah so I'm thinking there might be several scenarios where you don't want the tiltback, fooling around in skatepark, off-road, steep climbs, etc.

If that is the case then you do what i do, i log into the EUC Dash and set Normal PWM that only identifies with audial beeps

If i want my pedals tilted with pwm is reached, then i switch to PWM tilt setting and then ride like a madman  i've also asked for a custom firmware that when the setting of plain pwm is set it is default to RS HT at 80%, but when i switch to pwm tilted mode my pwm alarm is lowered to 75% and when it hits my pedals auto-adjust, it's amazing, love it.!! @Freestyleris the best!

[Rawnei]

2 minutes ago, Lefteris said:

If that is the case then you do what i do, i log into the EUC Dash and set Normal PWM that only identifies with audial beeps

If i want my pedals tilted with pwm is reached, then i switch to PWM tilt setting and then ride like a madman  i've also asked for a custom firmware that when the setting of plain pwm is set it is default to RS HT at 80%, but when i switch to pwm tilted mode my pwm alarm is lowered to 75% and when it hits my pedals auto-adjust, it's amazing, love it.!! @Freestyleris the best!

Yeah sure it's possible to do that but it's annoying having to switch back and forth specially if you are in the moment "oh look at steep hill! Wait I have to change settings first..." 😁

[Lefteris]

Well you can't have best of both worlds.

You switch your mode when you are off-road, you switch your mode with you ride seated, you will switch the mode to ride with pwm based tilted pedals.

And trust me, it's better to have the option of not having it at all. And we hope begode will implement this on their next wheels/firmwares cause it will save lives.

It's good that there are developers that know a thing or two and implement new mothods into our euc's because in the end of the day this niche sport needs strong community backing, hoping the companies will hear us out!  

[Rawnei]

1 hour ago, Lefteris said:

Well you can't have best of both worlds.

We can, if it's made to never engage below a certain speed, lets say 15kmh for example.

[Freestyler]

17 hours ago, Rawnei said:

Can't you reach PWM limit on slow speeds? I'm thinking of steep climbs for example. If so then maybe an idea is to have a threshold for when this can activate so that it doesn't happen at low speeds.

I thought of that too. My thinking was that the tiltback might prevent you from climbing a super steep incline (like the ones wrong way does at 40 degrees), that you could otherwise manage.

So I could prevent it from engaging it at speeds below 10-15 km/h for example.

But upon closer examination of the data in the pull test by @RagingGrandpa here, it looks like PWM cannot spike to extreme values without some RPMs.

From the logs it looked like the PWM reached the maximum 105%, so it would mean that you can reach maximum PWM from a dead stop.

But it looks like the wheel lost traction there and it reached a speed of 39 km/h.

We are waiting for a guy that looks the data to give us a clearer answer, but in short: it looks like we don't need to enforce a minimum speed for the tiltback as the PWM requires some speed already.

 

Edited May 20, 2022 by Freestyler