Pololu Balboa 32U4, Руководство пользователя

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1. Overview
The Balboa 32U4 is a highly integrated balancing robot that is both programmable and customizable.
Like our A-Star 32U4 programmable controllers
[https://www.pololu.com/category/149/a-star-
programmable-controllers]
, the Balboa 32U4 control board is built around a USB-enabled Atmel
ATmega32U4 AVR microcontroller, and it ships preloaded with an Arduino-compatible bootloader. The
control board features two H-bridge motor drivers, as well as quadrature encoders and a complete
inertial measurement unit (accelerometer, gyro, and magnetometer) that allows it to determine its
orientation – essential for balancing. It also includes a powerful 5 V switching step-down regulator that
can supply up to 2 A continuously, along with a versatile power switching and distribution circuit. Three
on-board pushbuttons offer a convenient interface for user input, while indicator LEDs, a buzzer, and
a connector for an optional LCD allow the robot to provide feedback.
The Balboa 32U4 can be used either as a standalone control solution or as a base for a more powerful
Raspberry Pi controller. Its on-board connector and mounting holes allow a compatible Raspberry
Pi (Model B+ or newer, including
Pi 3 Model B
[https://www.pololu.com/product/2759]
and Model A+
[https://www.pololu.com/product/2760]
) to plug directly into the control board. Integrated level shifters make
it easy to set up I²C communication and interface other signals between the two controllers, and
the control board automatically supplies 5 V power to an attached Raspberry Pi. In this setup, the
Raspberry Pi can handle the high-level robot control while relying on the Balboa 32U4 control board
for low-level tasks, like running motors, reading encoders, and interfacing with other analog or timing-
sensitive devices.
Pololu Balboa 32U4 Balancing Robot User’s Guide © 2001–2019 Pololu Corporation
1. Overview Page 3 of 97