Pololu Zumo Shield for Arduino User`s Guide
Contents
1. arguments byte pins 4 11 AQ 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 A5 instead 2 Assembly Page 23 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation e Ae jumper across gt wire sensor to new pin to re enable to remap To configure the ZumoReflectanceSensorArray library to use this remapped configuration 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 24 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 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 front2. chassis https www pololu com product 1418 and a stainless steel Zumo blade https www pololu com product 1410 or e asa fully assembled Zumo robot for Arduino https www pololu com product 2510 with 75 1 HP motors https www pololu com product 2361 and a reflectance sensor array https www pololu com product 1419 installed 1 Overview Page 4 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation Zumo Shield The shield itself comes with the following components e right angle slide switch e two pushbuttons https www pololu com product 1400 e buzzer e 2 pin battery charging header https www pololu com product 1012 e three jumper wires for soldering motors to the shield e two 25 pin 0 1 straight breakaway male headers https www pololu com product 965 e four blue shorting blocks https www pololu com product 968 e two 5 16 42 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 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 https 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 sproc
3. Arduino Library for the Pololu QTR Reflectance Sensors document https www pololu com docs 0J19 6 Zumo Shield Arduino Libraries Page 34 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 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 https www pololu com category 123 pololu qtr reflectance sensors Since the Zumo reflectance sensor array https 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 35 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 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 https www pololu com docs 0J57 6 Once the libraries are installed the examples 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 https www pololu com docs 035
4. 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 2 Assembly Page 22 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 EE Ja i 3 r Eas Den CO ro ee Se ee i A JON OOO LIER ION ee Y a ae OOO OB ORO Ola 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 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 a u 7 a e XE Sex 9 91 0 Se ry am ay 7 AOL Zumo Rafocienca cut aces hare th 6 disabl 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
5. Shield for Arduino User s Guide 2001 2015 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 9 When the Arduino is connected to a computer via USB it will receive power 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 I
6. expansion area general purpose I O DO eer iy L3GD20H 3 axis poet Ps lt x Ses WE 9 20 DRV8835 gyroscope s00 70 gi ojn dual motor of j0 f driver Zumo Shield piled viZ waw polcla com LSM303D 3 axis accelerometer amp magnetometer buzzer reset yellow button user LED user pushbutton power switch charge connector red and blue power LEDs For the original Zumo Shield a corresponding diagram https 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 https 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 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 https www pololu com product 2588 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 25 of 42 Pololu Zumo
7. file The Arduino IDE will automatically incorporate your modifications to the Servo library The next time you compile a sketch for the Arduino Leonardo or A Star that uses the Servo library 1t will use Timer 3 instead of Timer 1 8 Controlling a servo Page 42 of 42
8. 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 PC 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 PC lines and the jumpers connecting them to the on board compass module 9 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 or A Star 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 if 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
9. 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 https www pololu com docs 0J57 6 positive motor leads 2 Assembly Page 11 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 Chassis and shield 9 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 If you 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
10. 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 31 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 4 Schematic diagrams Schematic diagrams of the Zumo Shield are available as a downloadable PDF e vl 2 Zumo Shield schematic diagrams https www pololu com file download zumo shield v1_2 schematic pdf file_id 03779 449k pdf e Original Zumo Shield schematic diagrams https www pololu com file download zumo_shield_schematic pdf file_id 0J591 121k pdf 4 Schematic diagrams Page 32 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 5 Arduino pin assignment table Notes alternate functions RX for programming and serial communication on Uno and older Arduinos TX
11. 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 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 https 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 or A Star 32U4 Prime 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 is detailed in Section 3 b 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 axis gyroscope e The original Zumo Shield features an LSM303DLHC 3 axis accelerometer and magn
12. 28 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation battery level jumper y 00 JO Yohan y buzzer control jumper jew oe weerw pololu com SD 000 tea E de A SN ine a ST comprar 2C gt jumpers E pal jos oe he g Pololu 4 i e E gt j E HA l 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 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 it must be connected to enable the buzzer If you have an Arduino Uno or an older Arduino with an ATmega328P or ATmegal68 microcon
13. 440 0 535 a a Sa m T Aap I _ z4 ay un r gt pr BLA pitty ri ead o LA ql de wily een oO so 00 11 9 0 as 00 4 2 Assembly Page 18 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 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 1x3 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 1s 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 th
14. 7 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 https www pololu com product 966 to the locations shown in the diagram below then plug in a pair of standard servo cables https 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 36 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation RC receiver Note If your receiver is powered separately do not connect it to 5V red from the Zumo Throttle channel Steering 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 1t assumes the throttle and steering channels are connected 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 surroun
15. CR2A before going to 0 servoTime OCR2A 1 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 if 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 TCCR2B 1 lt lt CS21 Put the timer in a good default state TCNT2 O OCR2A 255 TIMSK2 1 lt lt OCIE2A Enable timer compare interrupt sei Enable interrupts void servoSetPosition uint16 t haghTimeMicroseconds TIMSK2 amp 1 lt lt OCIE2A disable timer compare interrupt servoHighTime highTimeMicroseconds 2 TIM
16. Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation Pololu Zumo Shield for Arduino User s Guide View document on multiple pages https www pololu com docs 0J57 View this document as a printable PDF zumo shield for arduino pdf https www pololu com docs pdf 0J57 zumo_shield_for_arduino pdf https www pololu com docs 0J57 all Page 1 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation A RR AA oe Oo a le ee 3 has Contacting Polos gt lt e surte bd de eet en be ee kA 4 Lb Included components a r 4 da PS Be ee a AI DRAE 4 ZAS SCAN dink Adak oo Stee me eo eds oe A ee ee ae a ee ee e T Zae NV Mat VOU Will NCCG s aeea aa has SR te ee ee WO ARA Oe a ee T 2 b Assembling the Zumo Shield and chassis aa 8 2 c Adding a Zumo reflectance sensor array optional o o aoa a a a eee ee 18 3 The Zumo Smee irade mis e a de ES he A We a A ee Re BR ies a 25 Ja Features and COMPONENIS gt corsa g oad paa ae AL e a OHSS 23 3 Dx ETONCEXPARSION ama a a de bi de da be i 2 OC JUMPErS ENNES e Sais e tee ee Bee ow OEE ae OE eee othe tae 28 3 d Inertial sensors accelerometer magnetometer and gyro a eee 30 4 Schemaie diaOraims ef maa Baw ee ee E A ee Dee Ge WERE CAS HSE ES 32 5 Arduino pin assignment table a 33 6 Zumo Shield Arduino Libraries 2 3 owe eae ev be eww BAe OS Ow SS oe KEELE ew oD 34 qd aPC projects SD Bad A anes Be ae aes God
17. SK2 1 lt lt OCIE2A enable timer compare interrupt 8 Controlling a servo 2001 2015 Pololu Corporation Page 41 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 8 b Controlling a servo with an Arduino Leonardo or A Star 32U4 Prime It is possible to modify the Servo library that comes with the Arduino IDE to use Timer 3 instead of Timer 1 on the Arduino Leonardo or A Star 32U4 Prime The modified Servo library does not interfere with the ZumoMotors library making it possible to simultaneously control servos and the motors Warning The modifications described here will affect any sketch for the Arduino Leonardo or A Star that uses the Servo library 1 First you will need to locate the Arduino IDE s Servo library and find the file inside it named ServoTimers h For the 1 6 x versions of the IDE this file can be found in ibraries Servo src avr ServoTimers h 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 Open ServoTimers h in a text editor 3 Locate the following lines of code in ServoTimers h elif defined AVR ATmega32U4 _ define useTimerl typedef enum _timerl Nbr 16timers timerl6 Sequence t 4 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 5 Save the
18. at 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 it 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 or A Star 32U4 Prime you should use the shorting block to connect LEDON to analog pin 4 A4 2 Assembly Page 19 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 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 2
19. com product 2192 e Four AA batteries we recommend rechargeable AA NiMH cells https www pololu com product 1003 Please see the product description for the chassis kit https www pololu com product 1418 for more information and recommendations about selecting these components Additional optional components e Zumo reflectance sensor array https www pololu com product 1419 e Basic sumo blade for the Zumo chassis https www pololu com product 1410 e Sensors https www pololu com category 7 sensors Such as our QTR reflectance sensors https www pololu com category 123 pololu qtr reflectance sensors e Connectors and jumper wires https www pololu com category 19 connectors for connecting additional sensors and components e Battery charger such as the iMAX B6AC https www pololu com product 2588 if 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 2 Assembly Page 7 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation e 3 mm Allen wrench hex key e long nose pliers for bending the Zumo blade mounting tabs 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 https www pololu com product 2504 but the assemb
20. dings 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 https www pololu com category 123 pololu qtr reflectance sensors are great for this purpose The Zumo Reflectance Sensor Array https 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 https www pololu com product 2510 ships with this reflectance sensor array already installed ear Sree a ra ea s z A Zumo robot preparing to attack a Parallax SumoBot Zumo reflectance sensor array on a Zumo robot bottom view 7 Example projects Page 37 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 it only uses the two outermost sensors on the array which are sufficient for border detection With the Zumo Shield Arduino Libraries https www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Exam
21. duct 2510 fully assembled with 75 1 HP motors https www pololu com product 2361 and a reflectance sensor array https 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 https www pololu com product 2124 accelerometer and magnetometer e Zumo Shield https www pololu com product 2504 e Zumo robot kit for Arduino https www pololu com product 2505 e Zumo robot for Arduino https www pololu com product 2506 1 a Contacting Pololu We would be delighted to hear from you about your experiences with the Zumo Shield for Arduino https www pololu com product 2508 Zumo robot kit for Arduino https www pololu com product 2509 Or Zumo robot for Arduino https www pololu com product 2510 If you need technical support or have any feedback you would like to share you can contact us https 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 https www pololu com product 2508 e as part of a Zumo robot kit for Arduino https www pololu com product 2509 that also includes a Zumo
22. ee Oe Se ae oe ee ee 36 WIN ALO e A Sees ta eR a AE we Se Se NS et a eae eae Ge 36 7 b Simple border detecting sumo robot 2 37 7 c Collision detecting sumo robot 2 2 a 38 TEE DETON T ctra bra Ss PR gt os ep ce ae ene Se seal cae csr ias do a aes Da Ok Ge 39 ES Maze SOI Cl E oe ana AAN AA A o EA AAA ee et ee 39 Tel Using te COMPASS ohm bab ae 2 oo ba e o ed a we heed 39 S COmmolimioasCiyOr le psc DP o NR ES AN A a DEA 40 8 a Controlling a servo with an Arduino Uno 2 a 40 8 b Controlling a servo with an Arduino Leonardo or A Star 32U4 Prime 42 Page 2 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 1 Overview The Zumo Shield provides a convenient interface between our Zumo chassis https www pololu com product 1418 and an A Star 32U4 Prime https www pololu com category 165 a star 32u4 prime Arduino Uno https www pololu com product 2191 or Arduino Leonardo https www pololu com product 2192 it is not compatible with the Arduino Mega or Due but it 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 its 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 interestin
23. er s Guide 2001 2015 Pololu Corporation 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 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 c Adding a Zumo reflectance sensor array optional Overview The Zumo reflectance sensor array https 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 it 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 it For more information on the Zumo reflectance sensor s capabilities and how it works including a schematic diagram please see its product page https 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 1 0 440 0 375 0
24. ersions 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 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 Uno with an SMD surface mount microcontroller Arduino Leonardo or A Star 32U4 Prime However there is not enough clearance to use male headers on the battery level and compass IPC 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 c
25. es gt MazeSolver This maze solver implementation is very similar to our maze solving example for the 3pi robot https 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 https www pololu com docs 0J21 7 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 https 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 navigation too much the program measures the magnetic heading before each turn then turns ninety degrees relative to that heading 7 Example projects Page 39 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Cor
26. es for connecting them to the shield If you do this please check to make sure your part lacement 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 connection to the motor These wire segments will be used as motor leads 2 Assembly Page 10 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 quick efficient with this soldering if 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
27. ete robot If you purchased an assembled Zumo robot for Arduino https 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 https 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 https www pololu com product 1418 which is included along with a Zumo blade https www pololu com product 1410 if you have a Zumo robot kit for Arduino https 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 https www pololu com category 60 micro metal gearmotors we recommend 100 1 https www pololu com product 1101 75 1 https www pololu com product 2361 or 50 1 https www pololu com product 998 gear ratio versions with HP motors The pre assembled version of the Zumo robot https www pololu com product 2510 includes two 75 1 HP micro metal gearmotors e An Arduino or compatible board we recommend an A Star 32U4 Prime https www pololu com category 165 a star 32u4 prime Arduino Uno R3 https www pololu com product 2191 or Arduino Leonardo https www pololu
28. etometer 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 3 The Zumo Shield in detail Page 27 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation D Digital I O pin amp BV On the Uno R3 SDA is a duplicate of analog pin 4 A4 Analog input or and SCL is a duplicate of analog pin 5 A5 citaiio pin Q voy PC pin On the Leonardo SDA is a duplicate of digital pin 2 E Ground and SCL is a duplicate of digital pin 3 ae This diagram is also available as a downloadable PDF Zumo Shield front expansion pinout https www pololu com file download zumo_shield_front_expansion_pinout pdf file_id 0J592 552k pdf 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 I2C pins SDA and SCL However please note that the PC pins are not independent pins they are respectively duplicates of analog pins A4 and AS on the Uno R3 and digital pins 2 and 3 on the Leonardo and A Star 32U4 Prime 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
29. for programming and serial communication on Uno and older Arduinos PC SDA on Leonardo and A Star 32U4 Prime optional jumper to buzzer control line for Uno and older Arduinos PC SCL on Leonardo and A Star 32U4 Prime optional jumper to buzzer control line for Leonardo and A Star 32U4 Prime user pushbutton pressing pulls low yellow user LED high turns LED on Zumo Shield function Notes alternate functions analog input and digital I O front expansion optional jumper to battery level voltage divider analog input and digital I O front expansion PC SDA on Uno and older Arduinos pie Zumo Shield function pins 0 digital I O l digital I O 2 digital I O front expansion 3 digital I O 4 digital I O front expansion 5 digital I O front expansion 6 digital I O f right motor direction control line 8 left motor direction control line 9 right motor PWM control line 10 left motor PWM control line 11 digital I O front expansion 12 digital I O 13 digital I O Analog pins AO analog input and digital I O front expansion Al A2 analog input and digital I O front expansion A3 analog input and digital I O front expansion A4 AS analog input and digital I O front expansion PC SCL on Uno and older Arduinos 5 Arduino pin assignment table Page 33 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 6 Zumo Shield Arduino Libraries Our Zumo Shield Libraries make it easy to get started writin
30. g 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 ATmegal 68 and ATmega32U4 microcontrollers which include the A Star 32U4 Prime Arduino Leonardo Arduino Uno and most older Arduinos the motor control functions use hardware PWM outputs from Timer to generate pulse width modulation at a 20 kHz frequency See Section 3 for more details about the motor driver and its connections If you accidentally soldered a motor to the Zumo Shield backwards opposite the orientation indicated in the assembly instructions https www pololu com docs 0J57 2 b you can simply call f1ipLeftMotor true and or flipRightMotor true to make the motors behave consistently with the direction
31. g robot such as a buzzer for making sounds and inertial sensors including an accelerometer and gyro Assembled Zumo robot for Arduino with an Arduino Uno with original white sprockets Zumo Shield for Arduino v1 2 as it ships assembled with surface mount components only A Zumo chassis Zumo Shield and Arduino or compatible board can be combined to become a low profile Arduino controlled tracked robot that 1s less than 10 cm on each side small enough to qualify for Mini Sumo competitions i aes A Bccelercnmeter Me Era Compass and gyro gt IBER 3 Zumo robot assembled with a Zumo T 20 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 https www pololu com product 2129 3 axis gyroscope and upgrades the accelerometer and magnetometer chip to 1 Overview Page 3 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation the newer LSM303D https 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 https www pololu com product 2508 e Zumo robot kit for Arduino v1 2 https www pololu com product 2509 with a Zumo chassis https www pololu com product 1418 and a stainless steel Zumo blade https www pololu com product 1410 e Zumo robot for Arduino v1 2 https www pololu com pro
32. ion 3 c for more details about the compass connections We have written a basic LSM303 Arduino library https github com pololu lsm303 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 https www pololu com docs 0J57 7 f that demonstrates how to use the magnetometer to help the Zumo coordinate its 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 https www pololu com product 2468 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 are 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
33. 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 2 56 machine screws included with 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 13 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 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 pre
34. kets 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 1 Overview Page 5 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation e Basic sumo blade for Zumo chassis https www pololu com product 1410 9 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 it 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 if you have some leftover hardware after assembling your Zumo 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 https www pololu com product 2361 e Zumo reflectance sensor array https www pololu com product 1419 1 Overview Page 6 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 2 Assembly If you have a Zumo robot kit for Arduino https www pololu com product 2509 or a separate Zumo Shield https www pololu com product 2508 and chassis https www pololu com product 1418 this section will guide you through assembling them into a compl
35. ly process is the same for the latest v1 2 version https www pololu com product 2508 Through hole parts l Solder the included through hole components to the shield o power switch fy o reset pushbutton 0 a a o user pushbutton 29 i E 0 e Your Piait buzzer B Zumo Shield L LL nan pololu tom o gt charging connector ea a wu 1x2 pin female header pte oa 1 2 On the bottom of the 0 le jo 10 board trim any leads longer led Lo than 1 16 the thickness of the 2606000 spacer plate so they do not reset HA rl ae I prevent the shield from sitting button flat on the spacer plate and E A 0609 chassis Da asa iad 1 Arduino headers E a Pololu 4 3 Separate the 1x40 pin breakaway male header into the appropriate segments for connecting your Arduino and charge connector solder them to the shield These header segments should be soldered to the sets of holes outlined with white rectangles on the top of the shield with the pins facing up user te power switch The A Star 32U4 Primes and 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 1f you are using this board with an older Arduino that does not support these additional pins Please make sure you solder the appropriate heade
36. 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 plate 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 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 2 Assembly Page 12 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 if you are also mounting a sumo blade otherwise you can use the shorter 1 4 screws for all four mounting holes If you are also adding a basic sumo blade you can either mount it now or add
37. n 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 IPC 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 PC jumpers if you are using an Arduino with a DIP through hole microcontroller 2 Assembly Page 9 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 9 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 blocks for the battery level jumper and compass jumpers if you have an Arduino Uno with an SMD surface mount microcontroller Arduino Leonardo or A Star 32U4 Prime However there is not enough clearance to use male headers on the battery level and compass IPC jumpers if you are using an Arduino with a DIP through hole microcontroller battery level jumper a o E buzzer control jumper jea aa wew pololucon BD o ae E 3 pe Acho ry l eci m iil meia ioe fe foe a HR 008 FO compass 1000 lo TE TA y rf AS Fe a compass 2C jumpers RS 2 090 i EH mes gt i W is lt 5 g m 6 Optional At this point you might consider soldering additional components such as sensors or headers or wir
38. ombines a 3 axis accelerometer and 3 axis magnetometer into a single package with an PC interface This chip is an LSM303D https www pololu com product 2127 on the v1 2 shield or an LSM303DLHC https www pololu com product 2124 on the original Zumo Shield The v1 2 version of the Zumo Shield also adds an L3GD20H https www pololu com product 2129 3 axis gyroscope on the same PC bus We recommend carefully reading the LSM303D_ datasheet https www pololu com file download LSM303D pdf file_id 0J703 1MB pdf L3GD20H datasheet https www pololu com file download L3GD20H pdf file_id 0J731 3MB pdf and or LSM303DLHC datasheet https 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 IPC pull up resistors are connected to the SCL 3 The Zumo Shield in detail Page 30 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 1f you want to use the compass with an older Arduino without separate SCL and SDA pins please see Sect
39. 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 https 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 https 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 https 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 https 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 requires 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 competi
40. pin either A4 or 2 is used To configure the ZumoReflectanceSensorArray library https www pololu com docs 0J57 6 to use this default pinout simply call init with no arguments reflectanceSensors init 9 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 Digital 1 0 pin sv On the Uno R3 SDA is a duplicate of analog pin 4 44 eee et and SCL is a duplicate of analog pin 5 A5 Analog input or digital VO pin Vin 7 45 V PC pin On the Leonardo SDA is a duplicate of digital pin 2 and SCL is a duplicate of digital pin 3 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
41. ples gt ZumoExamples gt Border Detect 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 https 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 1t drives off the ring If everything works right the Zumo should sound a countdown with its buzzer and then start driving forward until 1t detects the ring border 1t should then back up turn and continue If not try adjusting some of the parameters as 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
42. poration 8 Controlling a servo This section explains how to control a hobby RC servo https www pololu com category 23 re servos from an Arduino Uno Arduino Leonardo or A Star 32U4 Prime 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 or A Star 32U4 Prime see Section 8 b 8 a Controlling a servo with an Arduino Uno The example Arduino Uno code below shows how to control a single servo using Timer 2 Because it 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 people 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 mac
43. ro 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 as 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 intig to volatile sefvoHighTame 3000 This is true if the servo pin is currently high boolean volatile servoHigh false void setup servoln1t 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 8 Controlling a servo Page 40 of 42 Pololu Zumo Shield for Arduino User s Guide The time that passed since the last interrupt is OCR2A 1 because the timer value will equal O
44. rs for your particular Arduino An easy way to line up the Arduino headers for soldering is 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 2 Assembly Page 8 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 4 On the bottom of the board trim the four Arduino header pins closest 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 is more difficult once the robot is assembled especially if 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 Sectio
45. s 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 https www pololu com docs 0J18 3 functions in the Pololu AVR C C Library https 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 https www pololu com product 1419 See Section 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
46. ssed 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 14 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation e u E e a e i ia iy nie eet teeeeeee LN 650000000 ALEA AMNLLALAXITEL 16 Solder the two individual contacts to the shield from the top Note that 1f you are using a battery to hold the contact in place 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 E oB e a E Pololu ere F 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
47. t 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 and we recommend enabling the Arduino s internal pull up to pull the pin high otherwise The Pushbutton library included with our Zumo Shield libraries https www pololu com docs 0J57 6 makes it easy to detect and debounce button presses with this pushbutton Motor driver An integrated DRV8835 https 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 Digital pin 8 controls the left motor direction Digital pin 9 controls the right motor speed with PWM pulse width modulation Digital pin 10 controls the left motor speed with PWM 3 The Zumo Shield in detail Page 26 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation The ZumoMotors library https www pololu com docs 0J57 6 provides functions that allow
48. the bolts until the washers are snug against the chassis Be careful not to overtighten the 2 Assembly Page 15 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation shoulder bolts as doing so can bend the washers Note Be careful if you use threadlocking adhesives like Loctite as these can 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 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 16 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 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 Assembly Page 17 of 42 Pololu Zumo Shield for Arduino Us
49. tion 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 it 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 Example projects Page 38 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation 7 d Line follower This example program demonstrates how a Zumo with a reflectance sensor array https www pololu com product 1419 can be programmed to follow lines and run a line following course With the Zumo Shield Arduino Libraries https 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 https 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 https www pololu com docs 0J21 7 e Maze solver This example program demonstrates how a Zumo with a reflectance sensor array https www pololu com product 1419 can be programmed to solve a line maze With the Zumo Shield Arduino Libraries https www pololu com docs 0J57 6 installed the sketch file can be opened in Arduino by selecting File gt Examples gt ZumoExampl
50. troller you should jumper the two holes bracketed with the label 328P to connect the BZ pin to digital pin 3 If you have an A Star 32U4 Prime or Arduino Leonardo 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 https 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 3 The Zumo Shield in detail Page 29 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation e The compass gyro PC jumpers connect the IC 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 On the Arduino Uno R3 SCL and SDA are duplicates of analog pins 5 and 4 respectively On the A Star and Arduino Leonardo SCL and SDA are duplicates of digital pins 3 and 2 respectively Using the IPC sensors on the shield will prevent these pins from being used for other purposes and the PC 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 v
51. x12 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 1t 1s 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 2 Assembly Page 20 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation With the female header in place the assembled sensor array can be plugged directly into the Zumo shield 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 sensor array gets all the necessary power and I O connections from the 12 header pins that are circled on the silkscreen 2 Assembly Page 21 of 42 Pololu Zumo Shield for Arduino User s Guide 2001 2015 Pololu Corporation gt m AL STI o 11 e as X Leonardo A Uno on ae AD DO 0 e e o Zume O or older i 20 T 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
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