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

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


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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.



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


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


  • 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)







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