So, I spent some time this weekend getting the rear small drive unit fully hacked. I now have full control of it. :)
The small motors seem much more responsive than the large ones... and regen on max is much more aggressive. In this video I'm carefully controlling the throttle so that the whole rear clip doesn't flip off of my cart during regen. You can see it tile clockwise during both regen events. :)
Also much more complicated control schemes for this vs the large motors. Much higher rate data needed. I've cleared most of the errors it reports, enough to make it work properly and with full power, but still a bit more work to be done for it to be perfect.
Back to work!
