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Boe-Bot with Arduino Pro Mini

Navigate around with Ultrasound, obstacle avoidance

BoeBot Arduino Pro Mini

I finally decided to clean the dust off the Parallax BoeBot and decided to replace the BoeBot’s microcontroller (Basic Stamp 2) with the Arduino Pro Mini. Here is are the two microcontroller boards. They are pin to pin compatible as you can see and the Arduino board is a drop-in replacement for the BS2.

I picked the 5V, 16MHz, ATmega 328 version (make sure to use this version). My Arduino Pro Mini board did not come with headers or connector for Serial interface those were installed later.


How to program the Arduino Pro Mini, the BoeBot’s serial interface does not work to program the Arduino. Therefore, you would need a USB to serial adapter FT232RL or the CH340 like the one I got and driver files so that the operating system recognizes the serial port.



The Arduino Pro Mini has two pins for I2C connections and I used an I2C 16x2 LCD. Make sure you get the one with the I2C interface board.

Ultrasonic Range Finder SRF04 or SRF05, I got the latter for my robot.



Since I bought my Arduino Pro Mini board on eBay for some reason (perhaps firmware) when I program the board using the Arduino software under Tools -> Boards. I have to select the Arduino Mini w/ATmega328 instead of the Arduino Pro or Pro Mini (5V, 16Mhz) w/ ATmega328

Make sure to test the Arduino board with USB to Serial interface by downloading a few test programs. By default there is a onboard LED connected to output pin 13 on the Arduino Pro Mini.

When programming the Arduino Pro Mini board it must be unplugged from the BoeBot otherwise you would get a communication error message.

Once the Arduino board is placed on the BoeBot Socket the I/O pins marked on the BoeBot do not match the Arduino. Therefore, you need to use this table below to map the pinout.

There are sufficient pins on the Arduino Pro Mini to do many things and add different sensor and peripherals. The Pro Mini board has extra port and pins are accessible to connect the I2C display.


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I never realized the pin out situation. Very cool, that means my old BX board and my home built ones can now become pro minis. Good info, thanks for sharing. Stephen

Nice simple mod to extend the life of your BoeBot, cool

Cool way to bring life back into the good old boe bot

-I didn't realise you could just replace the  BS2 with an arduino mini so easily !

I'm still using the boe-bot chassis - now did I throw the pcb board away, or it in the spares box somewhere...?