This project set out to make an Onewheel alternative for under $400. Hoverwheel uses an old hoverboard for the motors and almost all of the electronics.

An ESP32 provides high-speed balance control and control parameter adjustments over BLE. This project does not use VESC and instead, the control algorithm has been written from scratch.

See the V1 writeup here: https://bwees.io/blog/hoverwheel-v1

The firmware was written in C++ with the Arduino framework inside of PlatformIO. Arduino was used to maximize compatibility with other microcontrollers.

I wrote a small web app before the iOS app to control parameters. I am no longer updating it with new settings and changes as it is not very useful outside of the initial setup. Once iOS devices support WebBluetooth I will continue development and likely rewrite it.

I wrote a SwiftUI iOS/Watch app to control the BLE parameters as well as provide sensor data such as battery voltage, speed, and motor duty cycle.

Settings Pane	Live Sensor Pane