Note: Many of the documents here are in .pdf format.  This requires Adobe Acrobat reader to be installed on your computer.  This is a free program, which can be downloaded here:

Instruction manuals

BalBot Assembly Manual.pdf (2.41 Mb) A printed copy of this manual is included with each BalBot Basic and BalBot Advanced kit.  It provides instructions on assembling the bot, as well as basic tips and instructions on how to operate the bot.

BalBot LE Assembly Manual.pdf (1.72 Mb) A printed copy of this manual is included with each BalBot LE kit. 

BalBot Detailed Users Guide.pdf (2 Mb)  This manual provides information on the following:
    -Installation instructions for the BrainBoard software.
    -How to program the BalBot Advanced.
    -Sample BrainBoard code walk-through.
    -Technical details on the BalanceBoard and how to interface to it.
    -Technical details on the BrainBoard and how to interface to it.
    -Modes of the BPC chip.
    -BPC Control System Diagram. 
    -How to tweak the balance control system parameters
    -Schematics and Layout diagrams for the BalanceBoard and BrainBoard

Technical Data Sheets

I2C-Bus Specification.  The I2C bus is a ubiquitous bus used to give integrated circuits (ICs) a way to communicate with each other.  The BalBot uses this bus in order for the BrainBoard to communicate with the BalanceBoard.  This document provides technical details on the I2C bus, including protocol and hardware.

AVR ATMEGA32 Data Sheet.  This is the complete data sheet for the microcontroller used on the BrainBoard.

GP2D12 Data Sheet (10-80cm Sensor).  Data Sheet for this mid-range distance measuring sensor.

GP2D120 Data Sheet (4-30cm Sensor).  Data Sheet for this short-range distance measuring sensor.

Software

Sample C Code. (32.11 Kb) Get the latest sample code for the BalBot Advanced.

ISP software (1.05 Mb).  This is the Windows software that runs the ISP programmer, which is used to program the ATMEGA32 on the BrainBoard..

BrainBoard Software (41Mb) This installs the following instruction manuals and software needed to program the BrainBoard:
    -BalBot assembly and detailed instruction manuals
    -AVR-GCC C-compiler (for ATMEGA32)
    -Programmer's Notepad IDE
    -ISP programmer software
    -BrainBoard C sample code