Pololu Balboa 32U4 Balancing Robot User’s Guide

Balboa 32U4 Balancing Robot with 80×10mm wheels.

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1. Overview

1.1. Included components

1.2. What you will need

1.3. Supported operating systems

2. Contacting Pololu

3. Balboa 32U4 in detail

3.1. Microcontroller

3.2. User interface

3.3. Motors

3.4. Quadrature encoders

3.5. Inertial sensors

3.6. Power

3.7. Expansion headers

3.8. Raspberry Pi interface and level shifters

3.9. Pin assignments

3.10. Adding electronics

3.11. AVR timers

3.12. Bumper cage

3.13. Stability Conversion Kit

3.14. Schematics and dimensions

4. Assembling the Balboa 32U4 kit

5. Programming the Balboa 32U4

5.1. Installing Windows drivers

5.2. Programming using the Arduino IDE

5.3. Programming using avr-gcc and AVRDUDE

6. Balboa 32U4 Arduino library

7. How to make a Balboa balance

7.1. Sensor measurements

7.2. An example balancing algorithm

8. The Balboa 32U4 USB interface

9. The A-Star 32U4 Bootloader

10. Reviving an unresponsive Balboa 32U4

10.1. Reviving using the Arduino IDE

10.2. Reviving using AVRDUDE

11. Related resources

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