Posts tagged "arduino"
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I am excited to announce the release of the Balboa robot! The Balboa is a two-wheeled balancing robot platform that is small enough to tempt you to run it on a desktop, but it’s quick enough that you should probably stick to bigger, softer surfaces. Or at least put a safety net or foam pit around your desk. Here is a short video showing it kicking up into balancing position and driving around:
A look inside the external gearbox on the Balboa 32U4 Balancing Robot.
One of our main goals in designing our robots is to make them complete and engaging on their own while making them open and expandable enough for all kinds of projects. We also don’t want them all to be the same. Most of the Balboa robots in our pictures have 80 mm wheels, but the chassis can also work with our 90 mm wheels (and to a lesser, barely practical extent, our 70 mm wheels). Because the chassis is made for our micro metal gearmotors, you have a few options for gear ratios as with our Zumo sumo robots, but what’s really exciting about the Balboa design is that there is an extra stage of gear reduction for which you get five different options (all included, and you can easily change the gear ratio from whatever you initially choose). The design also allows the drive wheels to be supported on ball bearings, reducing the stress on the micro metal gearmotor output shafts.
The Balboa chassis has a built-in battery holder for six AA cells, which typically give you several hours of run time, even if you add some extra power-hungry electronics like a Raspberry Pi.
Balboa 32U4 Balancing Robot with battery cover removed.
The main microcontroller is an Arduino-compatible ATmega32U4, which is powerful enough to read the on-board IMU sensors and encoders and to control the motors to balance the robot; it’s also great for introductory projects like line following or reading an RC receiver to make a radio-control balancing robot. For advanced projects, the Balboa is ready for you to add a Raspberry Pi computer to perform high-level algorithms while the ATmega32U4 microcontroller takes care of low-level tasks like motor control.
We will be adding more content to the Balboa’s product page and user’s guide, and we will have more blog posts about the Balboa robot. For today, we’ll end with some slow-motion footage of Balboa popping up on its own and then recovering when Paul knocks it around a bit:
At Pololu we maintain around thirty open-source Arduino libraries, and we keep adding new ones whenever we make a new carrier board or Arduino shield. People typically use these libraries with Arduino-compatible boards, such as our A-Star programmable controllers or Arduinos. We also have Arduino libraries for our user-programmable robot kits like the Romi 32U4 robot, Balboa 32U4 robot and Zumo 32U4 robot.
Sometimes we need to make changes to a lot of libraries at once, like when we wanted to add all of our libraries to the Arduino Library Manager. For us, library manager compatibility requires changing the directory layout, but doesn’t require changing the library or example code. With this many libraries to change, there is a risk of potentially breaking a working library by misspelling or moving a file incorrectly. Fortunately, customer Walt Sorensen introduced us to PlatformIO and Travis CI, which let us test compiling Arduino libraries every time they are pushed to GitHub.
Setting this up is easy enough that we encourage you to do it on your Arduino libraries! First, sign up for Travis CI (a testing service, free for open-source projects) and enable it for the GitHub repository you want to test. Now, every time you push new code to your repository, Travis CI will try to see if there is a .travis.yml file in the top level with instructions for running tests.
If your project has the structure of an Arduino Library Manager project and you have at least one example sketch, our short .travis.yml file should work. This file instructs Travis CI to compile the library and its examples against all the supported Arduino boards (specified in the “env” list of the .travis.yml file). The results can be seen on Travis CI’s website (for example, here is Pololu’s Travis CI page). The Arduino compiler is provided by PlatformIO, an open source ecosystem for internet-of-things development, which supports a long list of Arduino-compatible boards.
You can share your Travis CI build status by embedding a badge into your GitHub readme page:
Of course, for most library changes, we still have to test on actual hardware, but now every time we update our libraries (or a contributor submits a pull request), we can be sure they will at least compile on every supported board.