I’ve built the Balboa. Easy build with the great instructions and it works perfectly. I fitted a RPi Zero-W and that works great. Wireless is working. Now to get the two to talk.
I looked over the RPiSlave library mentioned in the Balboa manual and of course it doesn’t work. Won’t even compile with the Balance example. But I didn’t expect it to work. It’s written for a different platform.
In order to balance the Balboa needs to use the IMU, obviously, so it’s programmed as a TWI master. But the RPiSlave library is expecting the Balboa to act as a slave. Balboa can’t be both. I’m thinking about it but not sure where to go next. I can reverse the roles, make the RPi the slave and keep the Balboa as master. But then the RPi isn’t the higher authority, it’s a peripheral. Or make the Balboa a slave and have the RPi interface with the IMU and send readings down to the Balboa.
The latter seems to be the better approach. But what about latency, with the Pi being a general purpose computer? I would appreciate anyone’s thoughts on the issue.
Brand new to Pololu by the way!