as far as i understand the balboa with raspberry pi the pi makes the steering of the balancing and the 32u4 did not do something. I want to steer the balboa with a raspberry pi zero. But i thing it is better to make a connection between 32u4 and raspberry pi through serial and give the steering of balancing the 32u4 an the “brain” the raspberry. But how to do this? I thing by cutting the level shifter and soldering it to the serial. So I can steer the 32u4 through the serial node and the raspberry has not so much to do.
Please can you tell me where the connection are?
Thank you very much