Balboa 32U4平衡輪型機器人 Arduino Raspberry Pi

來打造一個專屬於你自己的平衡輪型機器人吧！

Balboa 32U4是基於Arduino兼容ATmega32U4 AVR微控制器的小型用戶可編程平衡機器人，具有兩個H橋電機驅動器，用於閉環電機控制的正交編碼器，全慣性測量單元（3軸加速度計，陀螺儀和磁力儀），以及用於連接Raspberry Pi以製作Raspberry Pi控制平衡機器人的可選接口。

控制板包括一個強大的5 V開關降壓穩壓器，可連續供電高達2 A，以及多功能的電源開關和配電電路。三個板上按鈕為用戶輸入提供了方便的界面。

套件中包含90×10mm輪胎組、50:1 6V微型金屬減速馬達(帶擴展電機軸)，不含樹莓派、Arduino、USB A至Micro-B 傳輸線、LCD螢幕、電池。

像Zumo 32U4機器人一樣，都是基於A-Star 32U4可編程控制器，Balboa 32U4具有USB接口，並預裝了Arduino兼容的引導加載器。可以使用軟體輕鬆地從Arduino環境編程機器人，還有Arduino庫和示例草圖來幫助您便利使用。

Balboa 32U4控制板可以作為機器人的主控制器，也可以作為更強大的Raspberry Pi控制器的基礎。通過添加2×20的母頭和支架（均不包括在內），兼容的Raspberry Pi（B +、Pi 3型號B和型號A +）可以直接插入電路板。集成電平轉換器可以方便地在兩個控制器之間設置I²C通信和接口其他信號，控制板自動向附加的Raspberry Pi提供5 V電源。在這種設置中，Raspberry Pi可以處理高級機器人控制，同時依靠Balboa的ATmega32U4微控制器進行低級任務，如運行電機，讀碼器等等

Build your very own programmable balancing robot with the Balboa 32U4 robot kit! The Balboa control board features an Arduino-compatible ATmega32U4 MCU, motor drivers, quadrature encoders, and a full IMU. This board also has the ability to interface with a Raspberry Pi, making the foundation for a complete Raspberry Pi-controlled balancing robot. Motors and wheels are not included:choose your wheels and motors to personalize your robot.

The Balboa 32U4 is a small, user-programmable balancing robot based on the Arduino-compatible ATmega32U4 AVR microcontroller and featuring two H-bridge motor drivers, quadrature encoders for closed-loop motor control, a full inertial measurement unit (3-axis accelerometer, gyro, and magnetometer) for estimating orientation and balancing, and an optional interface for connecting a Raspberry Pi to make a Raspberry Pi-controlled balancing robot. The control board 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(not included) allow the robot to provide feedback.

Like our Zumo 32U4 robot and A-Star 32U4 programmable controllers, which are based on the same microcontroller, Balboa 32U4 features a USB interface and ships preloaded with an Arduino-compatible bootloader. A software add-on is available that makes it easy to program the robot from the Arduino environment, and we have Arduino libraries and example sketches to help get you started. A USB A to Micro-B cable (not included) is required for programming. For those who want to customize or enhance their robots with additional peripherals, the robot’s power rails and microcontroller’s I/O lines can be accessed via 0.1″-spaced through-holes along the sides, front/top, and back/bottom of the control board.

The Balboa 32U4 control board can serve as the robot’s main controller, or it can act a base for a more powerful Raspberry Pi controller. With the addition of a 2×20 female header and standoffs (neither of which are included), a compatible Raspberry Pi (Model B+ or newer, including Pi 3 Model B and Model A+) can plug directly into the 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’s ATmega32U4 microcontroller for low-level tasks, like running motors, reading encoders, and interfacing with other analog or timing-sensitive devices.

【產品規格】

[自走車本體]

• Size: 118 × 112 × 80 mm
• Weight: 165 g

[輪胎]

• Size: 90 x 10 mm
• Weight: 0.8 oz
• Shaft diameter: 3 mm

[馬達]

• Size：10 × 12 × 26 mm
• Weight：9.5 g
• Shaft diameter：3 mm
• Gear ratio：51.45：1
• Free-run speed @ 6V：625 rpm
• Free-run current @ 6V：120 mA
• Stall current @ 6V：1600 mA
• Stall torque @ 6V：15 oz·in
• Extended motor shaft?：Y
• Long-life carbon brushes?：Y
• Motor type：1.6A stall @ 6V (HPCB 6V - carbon brush)

【文件下載】

[自走車本體]

• Pololu Balboa 32U4 Balancing Robot User’s Guide (Printable PDF)
• Pololu A-Star 32U4 drivers for Windows (version 1.3.0.0) (7k zip)
• Schematic diagram of the Balboa 32U4 control board (587k pdf)
• Pinout and power distribution diagrams of the Balboa 32U4 control board (2MB pdf)
• Gear ratio chart for the Balboa 32U4 Robot Kit (447k pdf)
• Dimension diagram of the Balboa 32U4 Control Board (471k pdf)
• Dimension diagram for the Balboa 32U4 Balancing Robot Kit (734k pdf)
• 3D model of the assembled Balboa Balancing Robot Kit chassis (without the Balboa 32U4 Control Board) (15MB step)
• 3D model of the Balboa 32U4 Control Board (27MB step)
• Drill guide for the Balboa 32U4 Control Board (285k dxf)
• LSM6DS33 datasheet (1MB pdf)
• LIS3MDL datasheet (2MB pdf)
• Balboa 32U4 Arduino library
• Balboa 32U4 library documentation
• LSM6 library for Arduino
• LIS3MDL library for Arduino
• Arduino Software
• Beefy arms for Balboa
• A-Star 32U4 repository on GitHub
• ATmega32U4 documentation

[輪胎]

• 3D models of Pololu Wheels 90×10mm (4MB zip)

[馬達]

• micro metal gearmotor dimension diagram (262k pdf)3D model of a micro metal gearmotor with extended motor shaft and a #1086 bracket (4MB step)
• 3D model of a micro metal gearmotor and a #1086 bracket (4MB step)
• 3D model of Micro Metal Gearmotors (single-shaft, precious metal brushes, not 1000:1) (11MB step)
• 3D model of Micro Metal Gearmotors with extended motor shafts (precious metal brushes, not 1000:1) (11MB step)
• 3D model of 1000:1 Micro Metal Gearmotors (single-shaft, precious metal brushes) (14MB step)
• 3D model of 1000:1 Micro Metal Gearmotors with extended motor shafts (precious metal brushes) (14MB step)
• 3D model of HPCB Micro Metal Gearmotors (single-shaft, carbon brushes, not 1000:1) (11MB step)
• 3D model of HPCB Micro Metal Gearmotors with extended motor shafts (carbon brushes, not 1000:1) (11MB step)
• 3D model of 1000:1 HPCB Micro Metal Gearmotors (single-shaft, carbon brushes) (14MB step)
• 3D model of 1000:1 HPCB Micro Metal Gearmotors with extended motor shafts (carbon brushes) (14MB step)
• MATLAB script to plot motor performance curves for Pololu brushed DC gearmotors