Bicycle's State

[sdrauksas]

Here I document the features that are available on the bicycle and their state.

• ✔️ SbW System - The system seems to work well while the rider is sitting down and the bicycle is loaded. However, after a fall during the experiment, the system starts to oscillate while the bicycle is unloaded. This could be due to damage to the motor's gearbox or hall sensors, or due to damage to the absolute encoders, or just a coincidence.
• ✔️ Bluetooth - The on-board HC-05 bluetooth module is used to send Serial data wirelessly to another HC-05 bluetooth module that is connected to a desktop PC.
• ❗ Brakes - Disconnected for treadmill riding. ⚠️ DO NOT FORGET TO RECONNECT BEFORE GOING OUTSIDE ⚠️
• ❗ E-bike Motor - Controls are disconnected for treadmill riding.
• ❗ SD Card Logging - During the upgrade from Teensy 3.6 to 4.1, George's code with TeensyThreads broke, therefore there is no data logging at the moment. I tried to implement it without TeensyThreads, but was not able to optimise the code enough so that writing to the SD card would not affect the SbW system.
• ❗ IMU - There is an in-built MPU9260 IMU on the bicycle. Sometimes the Teensy could not establish connection with the IMU. Since I did not need the IMU data, I did not look into this issue. Could be just a simple library issue.
• ❔ Force Transducer and Torque Sensor - These do output some value, but they are not calibrated.
• ❔ Cadence and Wheel Speed Sensors - Did not need these, therefore I did not try them. The Wheel Speed Sensor is currently out of it's normal place as it got in the way of the stand.
• ❔ Motor Torque Estimation - As far as I know, George tried to estimate the motor torque from the back EMF. I did not try to do it.
• ❔ Kickstand - The kickstand is not very stable, therefore it was taken off and placed in the cabinet with other parts of the SbW bicycle. Currently, the bicycle uses a trainer stand to stay upright when noone is using it.