VSW 5V
MLREAR
MLFRONT
D10
D16 0.1 uF
C8 0.1 uF
C9
VSW VSW
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
VSW 5V
MRFRONT
MRREAR
D9
D15
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
10k
R15 10k
R16
nSLPRnSLPL
0.1 uF
C6 0.1 uF
C7
5V 5V
5V
ERA
ERB D7
5V
ELA D8
ELB 1k
R55
1k
R54
0.1 uF
C47
5V
ELX ERX
1 uF
C38 0.1 uF
C39
3V3
0.1 uF
C40
Balboa 32U4 Control Board
©2017 Pololu Corporation
www.pololu.com
Schematic diagram
Motors, encoders, and inertial sensors
Motors and encoders Inertial sensors
②Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
② ②
3.3 nF
C50 3.3 nF
C51
PE2 A5
GND 3
VS 1
Q2
0.1 uF
C49
10k
R19
GND 3
VS 1
Q2
10k
R20
ERBERA
GND 3
VS 1
Q2
0.1 uF
C48
10k
R17
5V
GND 3
VS 1
Q2
10k
R18
ELBELA
5V 5V 5V 5V 5V
①Hall effect sensor ICs in SOT-23 packages, e.g.AH1751
GPIO3
GPIO2
3V3
0.1 uF
C41
3V3
VDDIO 1
SCL/SPC
2
SDA/SDI/SDO
3
SDO/SA0
4
CS
5INT2 6
INT1 7
RES(GND)
8RES(GND)
9RES(GND)
10 RES(GND)
11
GND
12 GND
13
NC 14
RES
15
VDD 16
LSM6DS33
VDD_IO
6SCL/SPC 1
GND
3
SDA/SDI/SDO 11
SDO/SA1 9
CS 10
RES(GND)
2INT 7
RES(GND)
12
VDD
5
C1
4
DRDY 8
LIS3MDL
10k
R32 10k
R52
3V3
① ① ①①
Left motor Right motor
