BALA ESP32 Development Mini Self-balancing Car (M5-K014-B)

Reference: M5-K014-B

BALA ESP32 Development Mini Self-balancing Car (M5-K014-B)


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BALA ESP32 Development Mini Self-balancing Car (M5-K014-B)

BALA is short for 'Balance', like its namesake, BALA is a Self Balancing Robot consist of a M5 FIRE and two wheels(DC motors).

This Application product comes with preloaded software, a self-balance robot application. While there are lots of open source code on Arduino as well, We especially encourage you to modify and enhance the code yourself.

This Self Balancing Robot is a Two-wheeled Robot that balances vertically using a closed-loop algorithm. This Self Balancing Robot Features various modes like Position Hold, Simple Mode, Rise Mode and Joystick Control. This Robot is controllable by a Smartphone device or a Transmitter. Self Balancing robot uses data from the Accelerometer and Gyroscope to correct its orientation and position.

The 2 DC driver module communicates with M5Stack FIRE through I2C bus. It's default I2C address is 0x56.

Product Features

  • Programming Support
    • Python
    • UIFlow (Blockly)
    • Arduino
  • Compatible LEGO
  • POGO Pin
  • TF Card Support


ModelM5Stack FIRE
ESP32 240MHz dual core, 600 DMIPS, 520KB SRAM, Wi-Fi, dual mode Bluetooth
Flash 16MB Flash + 4MB PSRAM
Input 5V @ 500mA
Interface TypeC x 1, GROVE(I2C+I/0+UART), Pogo Pin x 1
LCD 2 inch, 320x240 Colorful TFT LCD, ILI9341
Speaker 1W-0928
Microphone MEMS Analog BSE3729 Microphone
LED SK6812 3535 RGB LED x 10
MEMS MPU9250 (MPU6500 + AK8963)
Battery 550mAh @ 3.7V, inside
Op.Temp. 32°F to 104°F ( 0°C to 40°C )
Size 54 x 54 x 21 mm
C.A.S.E Plastic ( PC )

Kit includes

  • 1x M5Stack BALA
  • 1x Motor Driver
  • 2x N20(Encoder included)
  • Type-C USB Cable

Documents / Download

(1) IoT prakticky: Python na ESP32, vývojové dosky, inštalácia Micropythonu (

(2) IoT prakticky: Python na ESP32, popis portov a rozhraní (

(3) IoT prakticky: Python na ESP32 III, prvé pokusy s hardvérom (

(4) IoT prakticky: Python na ESP32 IV, knižnica octopus na obsluhu hardvéru a komunikácie (

(5) IoT prakticky: Python na ESP32 V – ovládanie displejov LED, LCD a OLED (

Specific References

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