6. Balboa 32U4 Arduino library

The Balboa 32U4 can be programmed from the Arduino IDE as described in the preceding sections.

To help interface with all the on-board hardware on the control board, we provide the Balboa32U4 library. The Balboa32U4 library documentation provides detailed information about the library, and the library comes with several example sketches.

If you are using version 1.6.2 or later of the Arduino software (IDE), you can use the Library Manager to install this library:

1. In the Arduino IDE, open the “Sketch” menu, select “Include Library”, then “Manage Libraries…”.
2. Search for “Balboa32U4”.
3. Click the Balboa32U4 entry in the list.
4. Click “Install”.

If this does not work, you can manually install the library:

1. Download the latest release archive from GitHub and decompress it.
2. Rename the folder “balboa-32u4-arduino-library-master” to “Balboa32U4”.
3. Move the “Balboa32U4” folder into the “libraries” directory inside your Arduino sketchbook directory. You can view your sketchbook location by opening the “File” menu and selecting “Preferences” in the Arduino IDE. If there is not already a “libraries” folder in that location, you should make the folder yourself.
4. After installing the library, restart the Arduino IDE.

After you install the Balboa32U4 library, you can learn more about it by trying the included example sketches and by reading the Balboa32U4 library documentation.

To use the inertial sensors on the Balboa 32U4, you might also want to install our LSM6 and LIS3MDL libraries (the LSM6 library is required to run the Balboa32U4 library’s “Balancer” example).

If you are using your Balboa 32U4 with a Raspberry Pi, you might also want to make use of our Raspberry Pi slave library for Arduino, which sets up the A-Star as an I²C slave and helps establish communication with a Raspberry Pi master. See Section 3.8 for more information about the Raspberry Pi interface.