Documentation and other information

• 

  Pololu Balboa 32U4 Balancing Robot User’s Guide (Printable PDF)

  User’s manual for the Pololu Balboa 32U4 balancing robot.

File downloads

• 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.

• Schematic diagram of the Balboa 32U4 control board (587k pdf)

• Pinout and power distribution diagrams of the Balboa 32U4 control board (2MB pdf)

• Dimension diagram of the Balboa 32U4 Control Board (471k pdf)

• 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.

• Drill guide for the Balboa 32U4 Control Board (285k dxf)

  This DXF drawing shows the locations of all of the board’s holes.

• LSM6DS33 datasheet (1MB pdf)

  Datasheet for the ST LSM6DS33 3D accelerometer and 3D gyroscope.

• LIS3MDL datasheet (2MB pdf)

  Datasheet for the ST LIS3MDL 3-axis magnetometer.

Recommended links

• 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.

• Balboa 32U4 library documentation

• LSM6 library for Arduino

  An Arduino library for interfacing with the LSM6DSO and LSM6DS33 accelerometer and gyro ICs.

• LIS3MDL library for Arduino

  An Arduino library for interfacing with the LIS3MDL magnetometer.

• 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.