Pololu Zumo Shield for Arduino User's Guide
Contents
1. The time that passed since the last interrupt is OCR2A 1 because the timer value will equal OCR2A before going to 0 servoTime OCR2A 1 8 Controlling a servo Page 38 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation static uint16 t highTimeCopy 3000 static uint8 t interruptCount 0 if servoHigh if interruptCount 2 OCR2A 255 The servo pin is currently high Check to see if is time for a falling edge Note We could instead of gt 1f servoTime gt highTimeCopy The pin has been high enough so do a falling edge digitalWrite SERVO PIN LOW servoHigh false interruptCount 0 else The servo pin is currently low 1f servoTime gt 40000 We ve hit the end of the period 20 ms so do a rising edge highTimeCopy servoHighTime digitalWrite SERVO PIN HIGH servoHigh true servoTime 0 interruptCount 0 OCR2A highTimeCopy 256 256 2 1 void servolnit digitalWrite SERVO PIN LOW pinMode SERVO PIN OUTPUT Turn on CTC mode Timer 2 will count up to OCR2A then reset to 0 and cause an interrupt TCCR2A 1 lt lt WGM21 Set a 1 8 prescaler This gives us 0 5us resolution TCCRZB T lt lt CSZ ip Put the timer in a good default state TCNT2 0 OCR2A 255 TIMSK2 1 lt lt OCIE2A Enable timer compare interrupt sei2. Enable interrupts void servoSetPosition uint16 t highTimeMicroseconds TIMSK2 amp 1 lt lt OCIE2A disable timer compare interrupt servoHighTime highTimeMicroseconds 2 TIMSK2 1 lt lt OCIE2A enable timer compare interrupt 8 b Controlling a servo with an Arduino Leonardo It 1s possible to modify the Servo library that comes with the Arduino IDE to use Timer 3 instead of Timer 1 on the Arduino Leonardo The modified Servo library does not interfere with the ZumoMotors library making 1t possible to simultaneously control servos and the motors 8 Controlling a servo Page 39 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Warning The modifications described here will affect any sketch for the Arduino Leonardo that uses the Servo library 1 First you will need to locate the Arduino IDE s Servo library which is somewhere inside your Arduino installation The exact location of the Servo library depends on what version of the Arduino IDE you have For the 1 0 x versions it should be in the top level libraries folder i e arduino 1 0 xWibraries Servo In later versions the Servo library is in arduino 1 5 x hardware arduino avr libraries Servo If you are using Mac OS X you will need to right click on the Arduino IDE icon and select Show Package Contents to see the files inside 2 Inside the Servo folder you should see a file named Servo h 3 Op
3. 3 Separate the 1x40 pin breakaway male header into the appropriate segments for connecting your Arduino and solder them to the z hs i shield These header segments t on E e a i should be soldered to the sets of holes outlined with white rectangles charge connector power switch on the top of the shield with the pins facing up user pushbutton The newest Arduino boards including the Uno R3 and the Leonardo use one 1x10 header two 1x8 headers and one 1x6 header older Arduino boards use two 1x8 headers and two 1x6 headers the two pairs of pins highlighted above in red should not be populated if you are using this board with an older Arduino that does not support these additional pins Please make sure you solder the appropriate headers for your particular Arduino An easy way to line up the Arduino headers for soldering 1s to plug them into an Arduino then place the shield upside down on top of them as shown in the picture below Be careful to insert the header pins into the correct set of holes before you begin soldering Note if you use this alignment technique make sure your soldering iron temperature is not excessively hot and avoid holding the iron on a single pin for more than a few seconds as this could melt the Arduino s female headers 2 Assembly Page 7 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 4 On the bottom of the board trim the four Arduino header pins close
4. Inertial sensors The Zumo Shield includes on board inertial sensors which can be used to sense acceleration and orientation for advanced applications e The v1 2 Zumo Shield features an LSM303D 3 axis accelerometer and magnetometer and an L3GD20H 3 ax1S gyroscope e The original Zumo Shield features an LSM303DLHC 3 axis accelerometer and magnetometer The inertial sensors are detailed in Section 3 d 3 b Front expansion The pins in the front expansion area of the Zumo Shield are shown in the following diagram o Digital I O pin 5V On the Uno R3 SDA is a duplicate of analog pin 4 A4 4 Analog input or o Vin 7 45 V and SCL is a duplicate of analog pin 5 45 Clea I pan On the Leonardo SDA is a duplicate of digital pin 2 FC pin Ground and SCL is a duplicate of digital pin 3 ono 5V IT 5 cap 5W ono 5Y G ono 5Y GND Vin SDA S 1 a GND 5Y GND Min IDA SCL a GND 5 This diagram is also available as a downloadable PDF Zumo Shield front expansion pinout http www pololu com file download zumo_shield_front_expansion_pinout pdf file_id 0J592 552k pdf 3 The Zumo Shield in detail Page 25 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation The front expansion makes available digital pins 2 4 5 and 11 and analog pins AO through AS It also provides access to the two PC pins SDA and SCL However please note that the I C pins are not independent pins they are respectively duplica
5. Controlling a servo with an Arduino Uno 2 38 8 b Controlling a servo with an Arduino Leonardo 39 http www pololu com docs 0J57 all Page 1 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 1 Overview The Zumo Shield provides a convenient interface between our Zumo chassis http www pololu com product 1418 and an Arduino Uno http www pololu com product 2191 or Leonardo http www pololu com product 2192 it is not compatible with the Arduino Mega or Due but 1t can be used with older Arduinos that have the same form factor as the Uno such as the Duemilanove The shield mounts directly to the chassis connecting to 1ts battery terminals and motors and the Arduino plugs into the shield s male header pins face down The shield provides all the electronics necessary to power the motors and includes some additional fun components for making a more interesting robot such as a buzzer for making sounds and inertial sensors including an accelerometer and gyro Zumo Shield for Arduino v1 2 as it Assembled Zumo robot with a Zumo ships assembled with surface mount Shield Arduino Uno and Zumo blade components only A Zumo chassis Zumo Shield and Arduino can be combined to become a low profile Arduino controlled tracked robot that is less than 10 cm on each side small enough to qualify for Mini Sumo competitions fe jeneral purpose W O Hale aecale o ma bar Compass and gyro
6. and supply 5V and 3 3V to the shield even when the Zumo Shield s power switch is off This can be useful if you want to test your Arduino program without allowing the motors to run since turning the power switch off disconnects motor power VBAT LEDs There are five LEDs on the Zumo Shield e A set of power LEDs one blue and one red is located in each of the two rear corners of the shield e A yellow user LED is located on the right edge of the shield It is connected to digital pin 13 on the Arduino in parallel with the Arduino s onboard user LED Pushbuttons Two pushbuttons can be soldered to the Zumo Shield e The reset pushbutton is located on the left edge of the shield It is connected to the Arduino s RESET pin and can be pressed to reset the Arduino e The user pushbutton is located on the rear edge of the shield It is connected to digital pin 12 on the Arduino pressing the button pulls the pin low The Pushbutton library included with our Zumo Shield libraries http www pololu com docs 0J57 6 makes 1t easy to detect and debounce button presses with this pushbutton Motor driver An integrated DRV8835 http www pololu com product 2135 dual motor driver on the Zumo Shield drives the Zumo s two micro metal gearmotors Four Arduino pins are used to control the driver Digital pin 7 controls the right motor direction LOW drives the motor forward HIGH drives it in reverse e Digital pin 8 controls the left
7. described above Here are some specific troubleshooting tips e Ifthe Zumo overshoots the ring border try lowering FORWARD SPEED especially if it is going very fast or reducing QTR_THRESHOLD e Ifthe Zumo stops at the border but turns too much or not enough before continuing adjust TURN SPEED and Or TURN DURATION e If you do not hear any sound from the buzzer make sure you have the buzzer control jumper http www pololu com docs 0J57 3 c configured correctly for your Arduino The ability to wander around while staying inside a sumo ring is enough to allow a Zumo to compete as a basic sumo robot but a more advanced robot might be able to detect its opponent and drive toward it directly As a next step you might consider adding more sensors such as range finders http www pololu com category 79 optical range finders to allow the Zumo to find its opponent instead of relying on luck to make contact 7 c Collision detecting sumo robot This example extends the simple border detecting sumo robot example http www pololu com docs 0J57 7 b described in the previous section making use of the accelerometer in the Zumo Shield s LSM303 3 axis compass module described in section Section 3 d to detect collisions With the Zumo Shield Arduino Libraries http www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Examples gt ZumoExamples gt SumoCollisionDetect This example also requi
8. multiply this number by 5000 mVx3 2 and divide by 1023 unsigned int batteryVoltage analogRead 1 5000L 3 2 1023 e The buzzer control jumper connects one of the Arduino s PWM outputs to the buzzer on the Zumo Shield This jumper is disconnected by default on both the assembled and kit versions of the Zumo robot 1t must be connected to enable the buzzer If you have an Arduino Uno or an older Arduino with an ATmega328P or ATmegal68 microcontroller you should jumper the two holes bracketed with the label 328P to connect the BZ pin to digital pin 3 If you have an Arduino Leonardo with an ATmega32U4 microcontroller you should jumper the two holes bracketed with the label 32U4 to connect the BZ pin to digital pin 6 These are the pins our ZumoBuzzer library http www pololu com docs 0J57 6 expects the buzzer to be connected to for each respective microcontroller More details about the buzzer can be found in Section 3 a e The compass gyro PC jumpers connect the PC clock SCL and data SDA lines of the inertial sensors on the Zumo Shield to the SCL and SDA pins on the Arduino These jumpers are connected by default but can be disconnected by cutting the thin trace between each pair of holes 3 The Zumo Shield in detail Page 27 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation On the Arduino Uno R3 SCL and SDA are duplicates of analog pins 5 and 4 respectively On the Arduino Leonardo S
9. Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Chassis and shield 3 To assemble the chassis with the Zumo Shield you should use the two piece acrylic spacer plate that is included with the shield You will not need the one piece mounting plate that is included with the Zumo chassis 10 Place an M3 nut in each of the two side slots near the rear of the chassis The slots are sized so that nuts will not be able to rotate within them These nuts will be used to mount the idler sprockets later 11 Ifyou want peel the protective paper masking off both sides of the acrylic spacer plate pieces the spacer plates in our pictures show what they will look like with the masking peeled off Alternatively you can leave the masking on for additional thickness If you leave the masking on it will be mostly concealed when the robot is fully assembled 12 Cover the chassis and motors with the spacer plate pieces and then the Zumo shield The holes in the spacer late should line up with the through holes in the shield resting on top of it and the motor leads should be aligned so they pass through the slots in the spacer as shown in the picture below There is only one correct orientation for these plates The plate consists of two separate pieces to make it possible to disassemble the Zumo without having to desolder the motors or battery terminals 13 In each of the four mounting holes insert a 2 56 machine screw through the
10. if you have a Zumo robot kit for Arduino http www pololu com product 2509 In addition you will require these items to construct a working Arduino controlled Zumo robot Additional required components e Two micro metal gearmotors http www pololu com category 60 micro metal gearmotors we recommend 100 1 http www pololu com product 1101 75 1 http www pololu com product 2361 or 50 1 http www pololu com product 998 gear ratio versions with HP motors The pre assembled version of the Zumo robot http www pololu com product 2510 includes two 75 1 HP micro metal gearmotors e An Arduino we recommend an Uno R3 http www pololu com product 2191 or a Leonardo http www pololu com product 2192 e Four AA batteries we recommend rechargeable AA NiMH cells http www pololu com product 1003 Please see the product description for the chassis kit http www pololu com product 1418 for more information and recommendations about selecting these components Additional optional components e Zumo reflectance sensor array http www pololu com product 1419 e Basic sumo blade for the Zumo chassis http www pololu com product 1410 e Sensors http www pololu com category 7 sensors such as our QTR reflectance sensors http www pololu com category 123 pololu qtr reflectance sensors e Connectors and jumper wires http www pololu com category 19 connectors for connecting additional sensors and components e B
11. of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation The extended 2x12 male header strip should be mounted to the sensor array PCB on the opposite side from the components Make sure you solder the shorter side of the pins to the PCB not the longer side Note that only 12 of the 24 pins are actually used by the sensor array these pins have silkscreen circles around them on the component side of the board and these are the only pins that need to be soldered though it is fine to solder all 24 pins Connecting to the Zumo shield The 2x12 female header included with the reflectance sensor array should be soldered to the front expansion area of the Zumo shield so that it is centered in the expansion area and flush with the Zumo chassis rows 2 and 3 While it is fine to solder all 24 pins to the shield only the 12 pins required by the reflectance sensor array need to be soldered see the Array pinout section below for more information on which pins are required solder 2x12 female header here With the female header in place the assembled sensor array can be plugged directly into the Zumo shield 2 Assembly Page 19 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 9 The reflectance sensor array features two visible red LEDs in series with the IR emitter LEDs so you can use the red LEDs to tell when the emitters are on and off Array pinout The Zumo reflectance s
12. shield spacer plate and chassis and tighten it against a nut under the chassis It is usually easier to place the nut into the recess first and hold it there with a finger or piece of tape while inserting the screw Note that the kit includes two different sizes of 2 56 machine screws 1 4 and 5 16 The two longer screws are intended for use in the front holes near the motors 1f you are also mounting a sumo blade otherwise you can use the shorter 1 4 screws for all four mounting holes 2 Assembly Page 11 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation If you are also adding a basic sumo blade you can either mount it now or add it later after you are done soldering the motors and battery contacts Note If you intend to solder anything to the front expansion area of the shield such as a Zumo reflectance sensor array you will have more room to work if you do the soldering before adding the sumo blade Note There is a small chance the mounting tabs of the blade can cause shorts where it contacts the shield if the PCB solder mask is not thick enough so we recommend adding some electrical tape or other insulating material between the blade and shield To install the blade first bend its mounting tabs to the appropriate angle Next place them on top of the shield so that the holes line up with the two front mounting holes and insert the two longer 5 16 42 56 machine screws included with
13. soldering motors to the chassis e 40 pin 0 1 straight breakaway male header http www pololu com product 965 e two blue shorting blocks http www pololu com product 968 e two 5 16 2 56 machine screws to be used instead of the 1 4 screws included with the chassis kit if you attach a Zumo blade e 1 16 black acrylic spacer plate two pieces 1 Overview Page 3 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Zumo Robot Kit for Arduino In addition to the shield and its included hardware the Zumo robot kit for Arduino also includes these components e Zumo chassis kit http www pololu com product 1418 which includes o Zumo chassis main body o 1 16 black acrylic mounting plate not used with the Zumo Shield o Two drive sprockets o Two idler sprockets o Two 22 tooth silicone tracks o Two shoulder bolts with washers and M3 nuts o Four 1 4 2 56 screws and nuts o Battery terminals e Basic sumo blade for Zumo chassis http www pololu com product 1410 Y You will receive the black acrylic spacer and mounting plates with protective paper masking on both sides You can peel this masking off to expose the acrylic surface or you can leave 1t on to increase the thickness of the plates 9 The shield and chassis kit include extra parts like jumper wires screws nuts and washers so do not be concerned 1f you have some leftover hardware after assembling your Zum
14. to the SCL and SDA pins on the Zumo Shield by default but they can be disconnected by cutting traces to allow those pins to be used for other purposes It is necessary to make some additional connections on the shield if you want to use the compass with an older Arduino without separate SCL and SDA pins please see Section 3 c for more details about the compass connections 3 The Zumo Shield in detail Page 28 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation We have written a basic LSM303 Arduino library https github com pololu Ism303 arduino and L3G Arduino library https github com pololu I3g arduino that makes it easier to interface the sensors with an Arduino as well as an example project http www pololu com docs 0J57 7 f that demonstrates how to use the magnetometer to help the Zumo coordinate 1ts turns In addition the combination of accelerometer magnetometer and gyro on the v1 2 version of the Zumo Shield is enough to implement an inertial measurement unit IMU the sensor ICs are the same as those on our MinIMU 9 v3 http www pololu com product 2469 so Arduino software written for the MinIMU 9 such as our AHRS example https github com pololu minimu 9 ahrs arduino can also be adapted to work on an Arduino controlled Zumo robot with a v1 2 shield Notes on the magnetometer Please note that the magnetometer in the LSM303 is affected by currents in the motors and buzzer when they a
15. CL and SDA are duplicates of digital pins 3 and 2 respectively Using the PC sensors on the shield will prevent these pins from being used for other purposes and the I C pull up resistors will affect readings on these pins even if the compass is not being actively used so you must cut the jumpers to disconnect the inertial sensors and pull ups if you want to repurpose the SCL and SDA pins Please note that the SCL and SDA pins do not exist on Arduino hardware versions prior to the Uno R3 so you will have to manually connect SCL to analog pin 5 and SDA to analog pin 4 on the Zumo Shield in order to use the compass with an older Arduino The most convenient place to do this is in the front expansion area where these pins are all located together as indicated by the light blue boxes in the picture above More details about the inertial sensors can be found in Section 3 d 9 Instead of making a wire connection you can solder a 1x3 male header to the buzzer control jumper holes to allow the use of a shorting block for connecting the buzzer note this header is already installed if you got the assembled version of the Zumo robot but the shorting block must be positioned in the appropriate place for the Arduino model you are using You can also use male headers and shorting blocks for the battery level jumper and compass jumpers if you have an Arduino Leonardo or an Arduino Uno with an SMD surface mount microcontroller However there is not enough c
16. Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation O UU f Pololu Zumo Shield for Arduino User s Guide o ES 2 La Contacto Polo s s sa sega d0rcras iria ada 3 1 b Included components wba rai tee hae hong ede eho we Re we ew es 3 Eo e n aras oe eee eee oh ee hee Aa EE ERE 6 2 a What you will need lt lt 066 46 4 e286 88 85 ee 2b ew Rw Oe eee EEE AAA 6 2 b Assembling the Zumo Shield and chassis ee 7 2 c Adding a Zumo reflectance sensor array optional e 17 The Zumo Shield in detail ous hae dod wae shee eh Side wc a 23 3 a Features and components o o aooo e e e 23 3D Front expansion sc ke EA Bee HE EES E EO aaa EH OS A 25 Se on sasawa fara Eaa a a EEE 26 3 d Inertial sensors accelerometer magnetometer and gyro aooo aoa oaoa a e a e 28 Schematic diagrams s sa s sacs ki tiaa d a e a a E a a a aa e a a E Ewe oe x 30 Arduino pin assignment table a 31 Zumo Shield Arduino Libraries 1 a 32 Example proje raro arreioresso rara AAA AA 34 Tih a ais aaa as ou een ee oon wae Paw we E 34 7 b Simple border detecting sumo robot 2 a 35 7 c Collision detecting sumo robot 2 a a a 36 llame OO WEE cee he kOe ee eke eee eA eee ae ee Oe ees 36 Ss Mizo ONO oe kein POSER Ree AE A 37 7 f Using the compass lt gt 4 oh be eee REESE EERE RS EBA EH ERD Seo OS 37 oContwolling A servo se s ta e ea SE ewe oe ee eee ee ee dae 38 8 a
17. attery charger such as the MAX B6AC http www pololu com product 2260 1f you are using rechargeable batteries Assembly tools e Soldering iron and solder we recommend one with adjustable temperature control e Wire cutter e Small Phillips screwdriver e 3 mm Allen wrench hex key e long nose pliers for bending the Zumo blade mounting tabs 2 Assembly Page 6 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 2 b Assembling the Zumo Shield and chassis Please follow these instructions carefully to assemble your Zumo Shield and chassis properly These pictures show the original Zumo Shield http www pololu com product 2504 but the assembly process is the same for the latest v1 2 version http www pololu com product 2508 Through hole parts 1 Solder the included through hole components to the shield o power switch ai o reset pushbutton a E o user pushbutton pi a b A LIN aca E Meee rom Your Pain ae Zumo Shield o charging connector 1x2 pin Fed le ile wew pololucom female header RE TUVE HE na pi ha z ja e df 201 E ili i 2 On the bottom of the board trim N oas DANI na E any leads longer than 1 16 the ds i re thickness of the spacer plate so they b do not prevent the shield from sitting flat on the spacer plate and chassis reset button j 7 za gt clica Arduino headers E a pl P a
18. blocks for the battery level jumper and compass jumpers if you have an Arduino Leonardo or an Arduino Uno with an SMD surface mount microcontroller However there is not enough clearance to use male headers on the battery level and compass I C jumpers if you are using an Arduino with a DIP through hole microcontroller battery level jumper E 010 _ fo Your Fran Tu buzzer control jumper AI 3 EP waw pololu cor ALI q BAT LEWEL G E i ie H ra TEE mum la tLe ov KEHA Aa seS TT aa oe compass lC jumpers 2100090 2000 T O Pololu 6 Optional At this point you might consider soldering additional components such as sensors or headers or wires for connecting them to the shield If you do this please check to make sure your part placement does not interfere with the shield s ability to mate with the Arduino or the chassis In particular note that only components in the outermost three rows of the front expansion area can extend below the board the fourth front expansion row can only be used for pins extending above the board and if you add any through hole parts to the prototyping areas on the shield you will need to drill corresponding holes in the acrylic spacer plate for the leads to fit into Motors 7 Cut two of the included jumper wires in half to form four segments and trim off the ends that are covered in adhesive the adhesive could interfere with making a good electrical connec
19. cted as the diagram shows on pins 4 and 5 respectively The signals from the two channels are mixed to determine the left and right motor speeds allowing for more intuitive control 7 b Simple border detecting sumo robot Adding sensors to the Zumo allows it to sense and react to its surroundings In a sumo competition where two robots try to push each other out of a circular ring it is important for a robot to be able to detect the border of the ring so it can avoid driving over the edge Since standard robot sumo rings are colored black with a white border around the edge infrared reflectance sensors like our QTR sensors http www pololu com category 123 pololu qtr reflectance sensors are great for this purpose The Zumo Reflectance Sensor Array http www pololu com product 1419 conveniently mounts six of these sensors in a module designed to plug directly into the front expansion header of the Zumo Shield note the pre assembled version of the Zumo robot http www pololu com product 2510 ships with this reflectance sensor array already installed A Zumo robot preparing to attack a Parallax SumoBot Zumo reflectance sensor array on a Zumo robot bottom view This example demonstrates how to program an Arduino controlled Zumo equipped with a reflectance sensor array to drive around and stay within a sumo ring Note that 1t only uses the two outermost sensors on the array which are 7 Example projects Page 35 of 40 Pololu Z
20. ction 2 c for more information on the Zumo reflectance sensor array This library depends on the QTRSensors library The ZumoReflectanceSensorArray class is a subclass of QTRSensorsRC The functions provided by QTRSensorsRC can also be used on the ZumoReflectanceSensorArray class and are documented in the Arduino Library for the Pololu QTR Reflectance Sensors document http www pololu com docs 0J19 6 Zumo Shield Arduino Libraries Page 32 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation QTRSensors This library which can also be found in the qtr sensors arduino repository https github com pololu qtr sensors arduino is a general library for interfacing with Pololu QTR reflectance sensors http www pololu com category 123 pololu qtr reflectance sensors Since the Zumo reflectance sensor array http www pololu com product 1419 has the same interface as the QTR RC reflectance sensors the ZumoReflectanceSensorArray library uses QTRSensors to read the sensor array 6 Zumo Shield Arduino Libraries Page 33 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 7 Example projects These examples demonstrate how to program an Arduino controlled Zumo to perform more complex and interesting tasks The source files for the examples are included in the download for the Zumo Shield Arduino Libraries http www pololu com docs 0J57 6 Once the libraries are installed the e
21. d vi_2 schematic pdf file_id 03779 449k pdf e Original Zumo Shield schematic diagrams http www pololu com file download zumo_shield_schematic pdf file_id 03591 121k pdf 4 Schematic diagrams Page 30 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 5 Arduino pin assignment table Digital pins 0 l 2 gt O 0 N A Q 10 11 12 13 Analog pins AO Al A2 A3 A4 AS Zumo Shield function Notes alternate functions digital I O RX for programming and serial communication on Uno and older Arduinos digital I O TX for programming and serial communication on Uno and older Arduinos digital I O front expansion PC SDA on Leonardo digital T O pre Bares control line for Uno and older Arduinos digital I O front expansion digital I O front expansion digital I O optional jumper to buzzer control line for Leonardo right motor direction control line left motor direction control line right motor PWM control line left motor PWM control line digital I O front expansion digital I O user pushbutton pressing pulls low digital I O yellow user LED high turns LED on Zumo Shield function Notes alternate functions analog input and digital I O front expansion analog input and digital I O front expansion optional jumper to battery level voltage divider analog input and digital I O front expansion analog input and digital I O front expansion analog input and digital I O front
22. during soldering the battery might act as a heat sink making it more difficult to solder or requiring a higher soldering iron temperature The battery terminal slot in the PCB should be completely filled with solder as shown in the picture below Sprockets and track 17 Place an idler sprocket on each shoulder bolt followed by a washer The side of the sprocket with teeth should face the same direction as the threaded end of the bolt so that the teeth end up pointing in towards the chassis 18 Insert the shoulder bolts through the side of the chassis into the nut Use a 3 mm hex key Allen wrench to tighten the bolts until the washers are snug against the chassis Be careful not to overtighten the shoulder bolts as doing so can bend the washers Note Be careful if you use threadlocking adhesives like Loctite as these can 2 Assembly Page 14 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation corrode the chassis You should first test any such adhesives on a concealed part of the chassis to ensure they will not damage it 19 Press the output shafts of the motors into the drive sprockets with the teeth of the sprockets facing the motor The end of the gearbox shaft should end up flush with the outside of the sprocket A good way to accomplish this is to set the wheel on a table top and press the motor shaft into the wheel until it contacts the table 20 At this point you can add
23. e AO Zumo robot assembled with a Zumo Shield and Arduino Uno back view Main features of the Zumo Shield for Arduino v1 2 The latest revision of the Zumo Shield is version 1 2 This version adds an L3GD20H http www pololu com product 2129 3 axis gyroscope and upgrades the accelerometer and magnetometer chip to the newer LSM303D http www pololu com product 2127 It is available by itself as part of a kit or in a complete robot e Zumo Shield v1 2 http www pololu com product 2508 e Zumo robot kit for Arduino v1 2 http www pololu com product 2509 with a Zumo chassis http www pololu com product 1418 and a stainless steel Zumo blade http www pololu com product 1410 1 Overview Page 2 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation e Zumo robot for Arduino v1 2 http www pololu com product 2510 fully assembled with 75 1 HP motors http www pololu com product 2361 and a reflectance sensor array http www pololu com product 1419 installed The information in this user s guide also applies to the original Zumo Shield which did not have a gyro and featured an LSM303DLHC http www pololu com product 2124 accelerometer and magnetometer e Zumo Shield http www pololu com product 2504 e Zumo robot kit for Arduino http www pololu com product 2505 e Zumo robot for Arduino http www pololu com product 2506 1 a Contacting Pololu We would be del
24. en Servo h in a text editor 4 Locate the following lines of code in Servo h telif defined AVR ATmega32U4 define _useTimerl typedef enum timerl Nbr 16timers timerl6 Sequence t 5 The lower two lines of code specify that the library should use Timer 1 To use Timer 3 instead just change _useTimerl tO_useTimer3 and timerl to timer3 6 Save Servo h The Arduino IDE will automatically incorporate your modifications to the Servo library The next time you compile a sketch for the Arduino Leonardo that uses the Servo library it will use Timer 3 instead of Timer 1 8 Controlling a servo Page 40 of 40
25. ensor array gets all the necessary power and I O connections from the 12 header pins that are circled on the silkscreen E amp g E 4 Pb TERI 00 a2 90 00 E oO 43 00 gt Leonardo Uno or older The default I O connections are to pins that are otherwise unused by the Zumo shield The shield uses one digital I O pin for each sensor 5 A2 AO 11 A3 and 4 and if you add the LEDON shorting block one additional pin either A4 or 2 is used To configure the ZumoReflectanceSensorArray library http www pololu com docs 0J57 6 to use this default pinout simply call init with no arguments reflectanceSensors init Y If you opt to leave off the LEDON shorting block you should use the QTR NO EMITTER PIN initialization parameter reflectanceSensors init QTR NO EMITTER PIN Otherwise the library code will still be trying to do something with the emitter pin A4 or 2 depending on which Arduino you are using and this would interfere with your being able to use that pin for alternate purposes When soldering the male 2x12 header to the sensor array you only need to solder those pins that you will be using If you solder all 24 pins the sensor array will be connected to additional pins from the Zumo shield s front expansion area though the array does not do anything with them in its default configuration 2 Assembly Page 20 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Digital O
26. expansion PC SDA on Uno and older Arduinos analog input and digital I O front expansion PC SCL on Uno and older Arduinos 5 Arduino pin assignment table Page 31 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 6 Zumo Shield Arduino Libraries Our Zumo Shield Libraries make 1t easy to get started writing Arduino sketches to control your Zumo A link to download the library and installation instructions can be found on the libraries github page https github com pololu zumo shield Once installed we recommend you try out the example sketches for each library which can be found under File gt Examples gt name of the library to get a better understanding of how to use the library functions You can also find some more complex examples not specific to any particular library under File gt Examples gt ZumoExamples Section 7 describes these examples in detail The Zumo Shield Libraries include the following ZumoMotors The ZumoMotors library provides functions for PWM based speed and direction control of the two motors on the Zumo with the onboard DRV8835 dual motor driver On Arduinos with ATmega328P ATmegal68 and ATmega32U4 microcontrollers which include the Leonardo Uno and most older Arduinos the motor control functions use hardware PWM outputs from Timerl to generate pulse width modulation at a 20 kHz frequency See Section 3 for more details about the motor driver and its c
27. f you are not using the shield s user pushbutton Pin 12 is completely free when the pushbutton is in its default unpressed state and it is pulled low through a 1k resistor when the pushbutton is pressed 3 c Jumper settings The Zumo shield has several jumpers that let you change the way it is connected to the Arduino as shown in the picture below 3 The Zumo Shield in detail Page 26 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation battery level jumper MS o buzzer control j jumper faa Arana polola corr DD A Lo Ld urave Em iz ja A DE 5 E pS de a de 018 COMPASS 3010 A a BN i 5 ore re i SEL E t aT T T ee compass PC jumper rs PM e Ml nr le a E TT A ue ree LED one Sm 1 e The battery level jumper connects the Arduino s analog pin 1 to a voltage divider circuit that allows you to monitor the Zumo s battery voltage This jumper is disconnected by default and can be connected by soldering a short length of wire between the two holes The divider outputs a voltage equal to two thirds of the battery voltage which will always be safely below the Arduino s maximum analog input voltage of 5 V For example at a battery voltage of 4 8 V analog pin 1 will be at a level of 3 2 V Using Arduino s analogRead function where 5 V is read as a value of 1023 3 2 V is read as a value of 655 To convert it back to the actual battery voltage
28. for tracking the line and the outer two sensors for detecting intersections To free up the I O lines associated with the other two sensors you could make the following modification 2 Assembly Page 21 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation pa aq E hor amy a k aai CE de eo exe Se e oa bi cut ices hore bi in disable Now you effectively have a four sensor array and analog pins A2 and A3 are available for general purpose use To configure the ZumoReflectanceSensorArray library to use this new configuration call init with these arguments byte pins 4 11 AO 5 reflectanceSensors init pins 4 Alternatively you could make two ZumoReflectanceSensorArray objects one for the two exterior sensors and another for the two interior sensors which might allow for cleaner code but the drawback is that you can no longer read all four sensors in parallel with this approach If you later decide you want to re enable those sensors you can connect across the cut trace with a wire or you can use a wire to remap the sensor to a different pin The following example shows how you could re enable the A2 sensor and remap the A3 sensor to pin AS instead 5 A2 AO 11 AS 4 s gt q y E g g diN a DA 9 0 10 00 EE D Da A Ba jumper a across cut wire sensor to new pin to re enable to remap To configure the ZumoReflectanceSensorArray library to use this remapped config
29. gation too much the program measures the magnetic heading before each turn then turns ninety degrees relative to that heading 7 Example projects Page 37 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 8 Controlling a servo This section explains how to control a hobby RC servo http www pololu com category 23 re servos from an Arduino Uno or Arduino Leonardo that is connected to the Zumo Shield The Arduino IDE includes a Servo http arduino cc en Reference Servo library that generates the pulses needed to control an RC servo However this servo library conflicts with the ZumoMotors library in that both rely on Timer 1 Instead you will need to do something special to get servo control working To control a servo with an Arduino Uno see Section 8 a To control a servo with an Arduino Leonardo see Section 8 b 8 2 Controlling a servo with an Arduino Uno The example Arduino Uno code below shows how to control a single servo using Timer 2 Because 1t uses Timer 2 instead of Timer 1 this code does not interfere with the ZumoMotors library but it will interfere with the ZumoBuzzer library so you will not be able to use this and the buzzer at the same time You can integrate this code with other code that drives the motors Arduino Uno Timer 2 Servo Example This example code for the Arduino Uno shows how to use Timer 2 on the ATmega328P to control a single servo This can be useful for pe
30. ighted to hear from you about your experiences with the Zumo Shield for Arduino http www pololu com product 2508 Zumo robot kit for Arduino http www pololu com product 2509 or Zumo robot for Arduino http www pololu com product 2510 If you need technical support or have any feedback you would like to share you can contact us http www pololu com contact directly or post on our forum http forum pololu com viewforum php f 29 Tell us what we did well what we could improve what you would like to see in the future or anything else you would like to say 1 b Included components Fully assembled Zumo chassis The Zumo Shield is available with assembled Zumo Shield v1 0 e by itself http www pololu com product 2508 e as part of a Zumo robot kit for Arduino http www pololu com product 2509 that also includes a Zumo chassis http www pololu com product 1418 and a stainless steel Zumo blade http www pololu com product 1410 or e as a fully assembled Zumo robot for Arduino http www pololu com product 2510 with 75 1 HP motors http www pololu com product 2361 and a reflectance sensor array http www pololu com product 1419 installed Zumo Shield The shield itself comes with the following components e right angle slide switch e two pushbuttons http www pololu com product 1400 e buzzer e 2 pin battery charging header http www pololu com product 1012 e three jumper wires for
31. learance to use male headers on the battery level and compass I C jumpers if you are using an Arduino with a DIP through hole microcontroller 3 d Inertial sensors accelerometer magnetometer and gyro Overview The Zumo Shield includes on board inertial sensors that can be used in advanced applications such as helping your Zumo detect collisions and determine its own orientation All versions of the Zumo Shield have a compass module that combines a 3 axis accelerometer and 3 axis magnetometer into a single package with an IPC interface This chip is an LSM303D http www pololu com product 2127 on the v1 2 shield or an LSM303DLHC http www pololu com product 2124 on the original Zumo Shield The v1 2 version of the Zumo Shield also adds an L3GD20H http www pololu com product 2129 3 axis gyroscope on the same IC bus We recommend carefully reading the LSM303D datasheet http www pololu com file download LSM303D pdf file_id 0J703 IMB pdf L3GD20H datasheet http www pololu com file download L3GD20H pdf file_id 0J731 3MB pdf and or LSM303DLHC datasheet http www pololu com file download LSM303DLHC pdf file_id 0J564 629k pdf to understand how these sensors work and how to use them Using the sensors Level shifters built into the shield allow the inertial sensors which operate at 3 3 V to be connected to the 5 V logic level pins of the Arduino The sensors level shifters and I C pull up resistors are connected
32. motor direction e Digital pin 9 controls the right motor speed with PWM pulse width modulation Digital pin 10 controls the left motor speed with PWM The ZumoMotors library http www pololu com docs 0J57 6 provides functions that allow you to easily control the motors and it can optionally take care of flipping a direction signal for you if you accidentally soldered in a motor backwards 3 The Zumo Shield in detail Page 24 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Buzzer The Zumo Shield comes with a buzzer that can be used to generate simple sounds and music for example you could use it to produce an audible countdown at the beginning of a sumo match The buzzer control line is labeled BZ on the shield if you alternate between driving it high and low at a given frequency the buzzer will produce sound at that frequency The ZumoBuzzer library http www pololu com docs 0J57 6 uses hardware PWM to play notes on the buzzer with digital pin 3 OC2B on an Arduino Uno or an older Arduino or with digital pin 6 OC4D on an Arduino Leonardo A jumper is provided to connect the BZ input to the appropriate Arduino output as detailed in Section 3 c Front expansion area A number of I O power and ground connections are brought to the front of the Zumo Shield to allow the mounting of additional sensors and other components The pinout of this front expansion area 1s detailed in Section 3 b
33. nsor array http www pololu com product 1419 is an easy way to add line following and edge detection capabilities to the Zumo robot It is designed specifically to mount to the front expansion area of the Zumo shield and 1t includes everything you need for installation Note that the reflectance sensor array is not included with the Zumo shield or Zumo Robot Kit and the Zumo robot can be used without 1t For more information on the Zumo reflectance sensor s capabilities and how it works including a schematic diagram please see its product page http www pololu com product 1419 This section is devoted specifically to assembling the sensor and using it with the Zumo shield 6 5 4 3 2 1 0 535 0 440 0 375 0 440 0 535 2 Assembly Page 17 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Assembling the sensor array The Zumo reflectance sensor array ships with all of the components you need to connect it to a Zumo shield e sensor array PCB with the surface mount parts pre populated e 2x12 extended 0 1 male header will be soldered to sensor PCB e 2x12 0 1 female header will be soldered to Zumo shield e 1x3 0 1 straight male header optionally soldered to sensor PCB e 1x3 0 1 right angle male header optionally soldered to sensor PCB e blue shorting block Before soldering in the main male header strip we recommend soldering one of the two included 1
34. o 1 Overview Page 4 of 40 Pololu Zumo Shield for Arduino User s Guide Zumo Robot for Arduino The Zumo robot for Arduino is a fully assembled robot platform built from the same components found in the Zumo robot kit for Arduino along with these additions e Two 75 1 HP micro metal gearmotors http www pololu com product 2361 e Zumo reflectance sensor array http www pololu com product 1419 1 Overview 2001 2014 Pololu Corporation Page 5 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 2 Assembly If you have a Zumo robot kit for Arduino http www pololu com product 2509 or a separate Zumo Shield http www pololu com product 2508 and chassis http www pololu com product 1418 this section will guide you through assembling them into a complete robot If you purchased an assembled Zumo robot for Arduino http www pololu com product 2510 this assembly work has been done for you although you might want to configure your Zumo by adding or removing some jumper connections http www pololu com docs 0J57 3 c Otherwise you can simply install four AA batteries and an Arduino or compatible controller and skip to Section 3 to start learning how to use your Zumo 2 a What you will need The Zumo Shield is designed to be mounted on a Zumo chassis kit http www pololu com product 1418 which is included along with a Zumo blade http www pololu com product 1410
35. onnections If you accidentally soldered a motor to the Zumo Shield backwards opposite the orientation indicated in the assembly instructions http www pololu com docs 0J57 2 b you can simply call flipLeftMotor true and or flipRightMotor true to make the motors behave consistently with the directions in your code ZumoBuzzer The ZumoBuzzer library provides functions that allow various sounds to be played on the buzzer of the Zumo Shield from simple beeps to complex tunes See Section 3 for more details about the buzzer and Section 3 c for an explanation of the buzzer control jumper settings The ZumoBuzzer library is fully compatible with the OrangutanBuzzer http www pololu com docs 0J18 3 functions in the Pololu AVR C C Library http www pololu com docs 0J20 so any melodies written for OrangutanBuzzer functions will also work with ZumoBuzzer functions Pushbutton The Pushbutton library provides a set of functions that are useful for detecting and debouncing pushbutton presses While the most obvious application of this library is to work with the Zumo Shield s user pushbutton on digital pin 12 this library can be used as a general purpose library for interfacing many types of buttons and switches to an Arduino even without a Zumo Shield ZumoReflectanceSensorArray This library provides a set of functions for reading reflectance values from a Zumo reflectance sensor array http www pololu com product 1419 See Se
36. ople who cannot use the Arduino IDE s Servo library For example the ZumoMotors library uses the same timer as the Servo library Timer 1 so the two libraries conflict The SERVO PIN macro below specifies what pin to output the servo on This pin needs to be connected to the signal input line of the servo The Arduino s GND needs to be connected to the ground pin of the servo The servo s ground and power pins need to be connected to an appropriate power supply y This line specifies what pin we will use for sending the signal to the servo You can change this define SERVO PIN 11 This is the time since the last rising edge in units of 0 5bus uint16 t volatile servoTime 0 This is the pulse width we want in units of 0 5us rntLo t Volatile servonighTime 30007 This is true if the servo pin is currently high boolean volatile servoHigh false void setup servo nit void loop servoSetPosition 1000 Send 1000us pulses delay 1000 servoSetPosition 2000 Send 2000us pulses delay 1000 This ISR runs after Timer 2 reaches OCR2A and resets In this ISR we set OCR2A in order to schedule when the next interrupt will happen Generally we will set OCR2A to 255 so that we have an interrupt every 128 us but the first two interrupt intervals after the rising edge will be smaller so we can achieve the desired pulse width ISR TIMER2 COMPA vect
37. pin sv On the Uno R3 SDA is a duplicate of analog pin 4 44 D Analog input or ES Vin 7 45 V and SCL is a duplicate of analog pin 5 A5 Aa On the Leonardo SDA is a duplicate of digital pin 2 PC pin a Ground and SCL is a duplicate of digital pin 3 g pr Pela ees 5 Disabling or remapping sensors Many applications do not require all six reflectance sensors and you might want additional I O lines for other things e g obstacle detectors In such cases you can disable specific sensors and free up their associated I O lines The array PCB has six pairs of through holes each of which corresponds to a different sensor The order of the pairs matches the order of the sensors When viewing the component side of the PCB the right hole of each pair connects to an Arduino I O line and the left hole connects to sensor There is a single trace on the component side of the PCB between the two holes of each pair and this trace can be cut to disable the sensor and free up the I O line The proper place to cut is marked on the silkscreen by carets Er e q WN e C ee a r A po E E A A TV O een 50 a e Sen TIN t 4m A OLIOO OL e e e Lumo pd LAAI OOOO OA Er r SA po q m p Le San 4 L to sensor to Zumo cut trace here to disable or remap For example if you want to use your Zumo for solving a line maze you can likely get by with just four sensors you can use the middle two sensors
38. re operating as well as metal in the batteries and the readings are easily influenced by magnetic distortions in the environment around the Zumo such as rebar in a concrete floor As a result it is very hard to accurately determine the Zumo s absolute heading based on the magnetometer data However in our tests we found that the magnetometer was still useful for detecting relative orientation changes for example once the magnetic readings are compensated for a particular environment they can be used to help the Zumo turn left or right by a specific angle instead of just timing how long to run the motors to make such a turn 9 In our tests we found that the batteries motors and motor current affect the z axis of the magnetometer much more strongly than the x and y axes so you probably will want to ignore the z readings We were generally able to get decent results using only the x and y magnetometer readings to determine heading Additionally you might need to decrease the magnetometer sensitivity if the magnetometer returns a value of 4096 that is a sign that the sensitivity range is set too narrow for your particular environment 3 The Zumo Shield in detail Page 29 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 4 Schematic diagrams Schematic diagrams of the Zumo Shield are available as a downloadable PDF e v1 2 Zumo Shield schematic diagrams http www pololu com file download zumo shiel
39. res the LSM303 library https github com pololu Ism303 arduino to be installed This program uses the X and Y components of the acceleration measured by the LSM303 to determine when it has made contact with an adversary robot in a sumo competition When it detects contact the Zumo speeds up which should allow it to either more effectively push the opponent out of the ring or to escape the opponent if 1t collided at an undesired angle from the rear or side To read more about how this program works please see the comments contained in SumoCollisionDetect ino 7 d Line follower This example program demonstrates how a Zumo with a reflectance sensor array http www pololu com product 1419 can be programmed to follow lines and run a line following course With the Zumo Shield Arduino Libraries 7 Example projects Page 36 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation http www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Examples gt ZumoExamples gt LineFollower This line follower implementation is very similar to our line following example for the 3pi robot http www pololu com product 975 and the concepts and strategies involved are explained in detail in Section 7 of the 3pi robot user s guide http www pololu com docs 0J21 7 e Maze solver This example program demonstrates how a Zumo with a reflectance sensor array http w
40. st to the front of the board on each side to prevent them from contacting the motor housings If you think there is a chance these pins might still touch the motor cases you can put some electrical tape on the motors to act as insulation Jumpers and additional connections 5 Optional If you want to enable the buzzer enable the battery level input or disable the compass now is a good time to add and or cut jumper connections to configure the shield to your liking This can also be done later though soldering to these pins 1s more difficult once the robot is assembled especially 1f you decide later you want to add header pins for use with shorting blocks this would require a lot of disassembly The jumpers are explained in detail in Section 3 c The buzzer and battery level jumpers can be connected by soldering in a short piece of wire between the two holes while the compass PC connections can be broken by cutting the trace on the top of the board between the holes Note there is not enough clearance to use male headers on the battery level and compass IC jumpers if you are using an Arduino with a DIP through hole microcontroller 2 Assembly Page 8 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Y Instead of making a wire connection you can solder a 1x3 male header to the buzzer jumper holes to allow the use of a shorting block for connecting the buzzer You can also use male headers and shorting
41. tes of analog pins A4 and AS on the Uno R3 and digital pins 2 and 3 on the Leonardo Typically you will only be able to use these pins for either PC communication or general I O not both Additionally pin Al is used to monitor the battery voltage if you install the battery monitor jumper Please note that only components and connectors in the front three rows of pins can extend below the shield the fourth row covers the chassis and is only suitable for components mounted above the shield If you use an Arduino Uno R2 or an older Arduino which lack separate I C pins the SDA and SCL pins on the Zumo Shield will not be connected to anything To use an I C device on those pins you can connect SDA to A4 and SCL to AS yourself by bridging across those two sets of pins in the front expansion area Section 3 c further explains the IPC lines and the jumpers connecting them to the onboard compass module Y Depending on the Arduino model digital pin 3 or 6 is used to control the buzzer if you install the buzzer control jumper If you are using an Uno pin 6 will be available for general purpose I O If you are using a Leonardo pin 3 will be available if you are not using I C These pins are not accessible via the front expansion but they can be accessed from other points on the shield and used for interfacing with additional electronics if free Additionally digital pin 12 can be used for interfacing with many types of additional electronics especially i
42. the rear edge of the shield which can be used to recharge the Zumo s batteries without removing them from the chassis The positive pin of the charge connector on the left is indicated by a plus sign A charger like the IMAX B6AC http www pololu com product 2260 connected by clipping its alligator clips to a pair of jumper wires inserted into the charge connector works well for charging the Zumo 3 The Zumo Shield in detail Page 23 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation After passing through reverse protection the battery voltage is connected to the rest of the shield by the power switch The switched battery voltage is designated VBAT and provides power to the motors through the DRV8835 motor driver An on board boost regulator also supplied from VBAT generates 7 45 V to power the Arduino through its Vin pin In turn the Arduino s regulated 5V and 3 3V voltages supply power to the motor driver logic buzzer circuit and compass module on the Zumo Shield Warning When powering the Arduino from the Zumo Shield you must never connect a different power supply to the Arduino s VIN pin or plug a power supply into the Arduino s power jack as doing so will create a short between the shield s power supply and the Arduino s power supply that could permanently damage both the Arduino and the Zumo Shield y When the Arduino is connected to a computer via USB it will receive power
43. the shield through the blade shield spacer plate and chassis Be careful when adjusting the angle of the sumo blade while it is mounted to the chassis as this can crack the acrylic spacer plate if you apply sudden or excessive force We recommend you do not try bending the blade while it is mounted to the chassis 14 Solder each motor lead to the shield then trim off the excess length of wire 2 Assembly Page 12 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation Battery contacts 15 Turn the chassis over and install the battery terminal contacts as shown in the picture below The three double contact pieces should be firmly pressed into place until they are flush with the interior surface of the battery compartment The two individual contacts should be inserted into the battery compartment so that their solder tabs protrude through the holes in the top of the chassis you might want to temporarily tape these two individual contacts in place until they have been soldered to the shield as described in the next step or you can use a battery to temporarily hold them in place 2 Assembly Page 13 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation e k E E a e i B TOALLA SEAL TOLER REEL ULE TELS LE 16 Solder the two individual contacts to the shield from the top Note that if you are using a battery to hold the contact in place
44. the silicone tracks by stretching them around the sprockets on each side of the chassis Your Zumo Shield and chassis are now complete just add batteries and an Arduino to get your Zumo robot moving 2 Assembly Page 15 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation a a hye pe pa q e 0 0 p i u F al a J a a Bo BTA 5 0 al Disassembly If you later decide you want to solder additional parts to the Zumo Shield it is possible to remove it from the chassis with some careful effort 1 Remove the tracks from the chassis and carefully pull the drive sprockets off the motors 2 Remove the battery cover and batteries from the chassis 3 Unscrew all four sets of machine screws and nuts holding the shield to the chassis 2 Assembly Page 16 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 4 Squeeze the negative battery terminal spring and gently ease both battery terminals out through the holes in the chassis The motors will stay attached to the shield as 1t separates from the chassis 5 Carefully bend both motors away from the shield to allow the front piece of the spacer plate to be removed You can reassemble the Zumo afterwards by following this procedure in reverse Make sure to replace the spacer plate pieces properly 2 0 Adding a Zumo reflectance sensor array optional Overview The Zumo reflectance se
45. tion to the motor These wire segments will be used as motor leads 8 Solder a pair of leads to each motor You might find it helpful to make a small bend at the tip of each lead to hook into the hole in the motor lead tab to hold it in place for soldering Warning holding the soldering iron against the motor lead for more than a few seconds can start to damage the motor brushes so try to be reasonably 2 Assembly Page 9 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation quick efficient with this soldering 1f the first attempt does not go well remove the soldering iron and let the motor cool for a few seconds before trying again Each motor s positive terminal is indicated by a plus sign in the black plastic end of the motor visible at the bottom of the picture above The motors should be soldered into the shield with the positive terminal closest to the front so you should attach the leads to allow the motors to be oriented this way However don t worry if you accidentally get the orientation of one or both motors wrong You can later compensate for it in software with our ZumoMotors library http www pololu com docs 0J57 6 positive motor leads 9 Place the motors into the channel in the front of the chassis aligning the gearbox with the grooves in the channel The front plate of the gearbox should be even with the edge of the chassis 2 Assembly Page 10 of 40 Pololu Zumo
46. umo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation sufficient for border detection With the Zumo Shield Arduino Libraries http www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Examples gt ZumoExamples gt BorderDetect You might need to edit a few things in this sketch to make 1t work well with your Zumo e If one or both of your motors have been connected backwards uncomment lines 48 and or 49 to correct their directions e Adjust the speeds and durations in lines 13 17 Generally lower speeds and shorter durations should work better with faster motors while higher speeds and longer durations should be more appropriate for slower motors We found that these default values worked well with a Zumo using 75 1 HP motors http www pololu com product 2361 e Finally the sensor reading threshold used to differentiate between black and white surfaces defined on line 10 might need to be changed to suit your environment Upload the sketch to an Arduino mounted on a Zumo place the Zumo on a sumo ring or a similar large dark surface with a light border and press the user pushbutton Be ready to catch the Zumo in case it drives off the ring If everything works right the Zumo should sound a countdown with its buzzer and then start driving forward until it detects the ring border it should then back up turn and continue If not try adjusting some of the parameters as
47. uration call init with these arguments byte pins 4 A5 11 AO A2 5 reflectanceSensors init pins 6 Or if you are not using an I O line to control the IR emitters byte pins 4 A5 11 AO A2 5 reflectanceSensors init pins 6 2000 QTR NO EMITTER PIN 2000 timeout after 2 ms 2 Assembly Page 22 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation 3 The Zumo Shield in detail 3 a Features and components The main features of the Zumo Shield v1 2 are labeled in this diagram front expansion area general purpose 1 0 a i E rr iv L3GD20H 3 axis cipher gyroscopa ss driver Zumo Shield LSM303D 3 axis accelerometer amp magnetometer buzzer reset yellow user LED button user pushbutton power switch charge connector red and blue power LEDs For the original Zumo Shield a corresponding diagram http www pololu com file download zumo shield v1 0 labeled components jpg file_id 0J810 206k jpg is available the only differences are the on board inertial sensors Power The Zumo chassis has an internal compartment for four AA batteries We recommend using rechargeable AA NiMH cells http www pololu com product 1003 which results in a nominal voltage of 4 8 V 1 2 V per cell You can also use alkaline cells which would nominally give you 6V A direct connection to the battery terminals is provided by the battery charger connector on
48. ww pololu com product 1419 can be programmed to solve a line maze With the Zumo Shield Arduino Libraries http www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Examples gt ZumoExamples gt MazeSolver This maze solver implementation is very similar to our maze solving example for the 3pi robot http www pololu com product 975 and the concepts and strategies involved are explained in detail in Section 8 of the 3pi robot user s guide http www pololu com docs 0J21 74 Using the compass This example program demonstrates using the magnetometer in the Zumo Shield s LSM303 3 axis compass module described in section Section 3 d to help the Zumo coordinate ninety degree turns and drive in squares With the Zumo Shield Arduino Libraries http www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Examples gt ZumoExamples gt Compass This example also requires the LSM303 library https github com pololu Ism303 arduino to be installed Because the batteries motors and motor current affect the z axis of the magnetometer much more strongly than the x and y axes this program calculates the Zumo s orientation using only the x and y readings from the magnetometer assuming that the robot is always level In order to prevent external locally varying magnetic fields e g from rebar in a concrete floor from affecting the Zumo s navi
49. x3 male headers into the set of three holes along the edge of the board This step is optional but recommended because it allows dynamic control of the IR emitters and red LEDs By controlling when these LEDs are on you can save power and make your programs easier to debug If you skip this step the IR emitters will just be on whenever the sensor array is plugged in and the Zumo is on We recommend using the right angle header mounted as shown in the picture below but the straight 3 pin header will also work if you do not have anything already soldered to the Zumo shield s front expansion area that would interfere If you choose to install this header please make sure you are doing it in a way that will not prevent installation of the sensor array e g by installing 1t on the wrong side or by installing the right angle pins in the wrong orientation If you are going to install this 3 pin header it is generally easier to do so before soldering the larger 24 pin header To enable dynamic control of the IR emitters install the 3 pin header and use the included blue shorting block to connect the LEDON pin to the appropriate digital I O pin If you are using an Arduino Uno or older Arduino you should use the shorting block to connect LEDON to digital pin 2 the position that puts it flush with the edge of the board if you are using an Arduino Leonardo you should use the shorting block to connect LEDON to analog pin 4 A4 2 Assembly Page 18
50. xamples can be accessed in the Arduino environment under File gt Examples gt ZumoExamples 7 a RC Zumo By connecting an RC receiver and running this example program you can turn your Zumo into a radio controlled vehicle With the Zumo Shield Arduino Libraries http www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Examples gt ZumoExamples gt RCControl A Zumo robot with an RC receiver attached to make a radio controlled vehicle An easy way to connect the receiver to the Zumo Shield is to solder two 1x3 male header strips http www pololu com product 966 to the locations shown in the diagram below then plug in a pair of standard servo cables http www pololu com category 112 servo cables between the receiver and the Zumo Shield If your receiver has a separate power source you should only connect the signal and ground wires between it and the Zumo 7 Example projects Page 34 of 40 Pololu Zumo Shield for Arduino User s Guide O 2001 2014 Pololu Corporation RC receiver Note If your receiver is powered separately do not connect it to 5V red from the Zumo Steering channel Throttle channel Diagram of an RC receiver connected to pins on a Zumo Shield This program uses Arduino s Pulseln library http arduino cc en Reference PulseIn to read the signals from the receiver By default it assumes the throttle and steering channels are conne
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