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Balboa 32U4 Control Board
This is the control board for the Balboa 32U4 robot. It is included as part of the Balboa 32U4 Balancing Robot Kit and can be added to the Balboa Chassis with Stability Conversion Kit to turn into a Balboa 32U4 robot.
Description | Specs (2) | Pictures (12) | Resources (14) | FAQs (0) | On the blog (0) |
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Documentation and other information
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Pololu Balboa 32U4 Balancing Robot User’s Guide (Printable PDF)
User’s manual for the Pololu Balboa 32U4 balancing robot.
File downloads
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Pololu A-Star 32U4 drivers for Windows (version 1.3.0.0) (7k zip)
This download contains the Windows drivers for the A-Star 32U4 and the rest of our 32U4 family of boards.
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Schematic diagram of the Balboa 32U4 control board (587k pdf)
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Pinout and power distribution diagrams of the Balboa 32U4 control board (2MB pdf)
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Dimension diagram of the Balboa 32U4 Control Board (471k pdf)
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3D model of the Balboa 32U4 Control Board (27MB step)
Note: this model includes an LCD and headers that are sold separately from the Balboa 32U4 Balancing Robot Kit.
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Drill guide for the Balboa 32U4 Control Board (285k dxf)
This DXF drawing shows the locations of all of the board’s holes.
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LSM6DS33 datasheet (1MB pdf)
Datasheet for the ST LSM6DS33 3D accelerometer and 3D gyroscope.
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LIS3MDL datasheet (2MB pdf)
Datasheet for the ST LIS3MDL 3-axis magnetometer.
Recommended links
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Balboa 32U4 Arduino library
The Balboa32U4 library for the Arduino IDE helps interface with the on-board hardware on the Balboa 32U4 control board as well as the optional 5-channel reflectance sensor array for the Balboa.
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Balboa 32U4 library documentation
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LSM6 library for Arduino
An Arduino library for interfacing with the LSM6DSO and LSM6DS33 accelerometer and gyro ICs.
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LIS3MDL library for Arduino
An Arduino library for interfacing with the LIS3MDL magnetometer.
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Forum post: Correcting the Balboa magnetometer
Pololu forum user Jim Remington has shared a technique for compensating for hard iron distortion of the Balboa’s magnetometer. After corrections, he was able to create a compass program with a basic accuracy of ±2°, sufficient for navigating the Balboa around the room.