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Pololu Zumo Shield for Arduino User's Guide
Pololu Zumo Shield for Arduino
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.a. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.b. Included components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.a. What you will need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.b. Assembling the Zumo Shield and chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.c. Adding a Zumo reflectance sensor array (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3. The Zumo Shield in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.a. Features and components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.b. Front expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.c. Jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.d. 3-axis compass module (accelerometer and magnetometer) . . . . . . . . . . . . . . . . . . . . . . . . 26
4. Schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5. Arduino pin assignment table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6. Zumo Shield Arduino Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
7. Example projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.a. RC Zumo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.b. Simple border-detecting sumo robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.c. Maze solver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.d. Using the compass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8. Controlling a servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.a. Controlling a servo with an Arduino Uno . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.b. Controlling a servo with an Arduino Leonardo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
http://www.pololu.com/docs/0J57/all
User's Guide
© 2001-2013 Pololu Corporation
Page 1 of 38
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Summary of Contents for Pololu Zumo Shield
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Page 1: Table Of Contents
2.b. Assembling the Zumo Shield and chassis ........ -
Page 2: Overview
Zumo Shield for Arduino. Shield, Arduino Uno, and Zumo blade. 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). -
Page 3: Contacting Pololu
Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 1.a. Contacting Pololu We would be delighted to hear from you about your experiences with the Zumo Shield for Arduino Zumo [http://www.pololu.com/catalog/product/2504] robot kit for Arduino , or Zumo [http://www.pololu.com/catalog/product/2505]... - Page 4 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation • Zumo chassis kit [http://www.pololu.com/catalog/product/ , which includes: 1418] ◦ Zumo chassis main body ◦ 1/16″ black acrylic mounting plate (not used with the Zumo Shield) ◦ Two drive sprockets ◦...
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Page 5: Assembly
(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 , which [http://www.pololu.com/catalog/product/1418] is included (along with a... -
Page 6: Assembling The Zumo Shield And Chassis
Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 2.b. Assembling the Zumo Shield and chassis Please follow these instructions carefully to assemble your Zumo Shield and chassis properly. Through-hole parts 1. Solder the included through-hole components to the shield: ◦... - Page 7 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 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.
- Page 8 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation Instead of making a wire connection, you can solder a 1×3 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 Leonardo or an Arduino Uno with an SMD (surface mount) microcontroller.
- Page 9 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 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 positive terminal is indicated by a plus sign (+) in the black plastic end of the motor, visible at the bottom of the picture above.
- Page 10 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. There is only one correct orientation for these plates.
- Page 11 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 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.
- Page 12 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation Battery contacts 15. Turn the chassis over and install the battery terminal contacts as shown in the picture below. Note that the two individual contacts should be inserted into the chassis so that their solder tabs protrude through the holes in the top of the chassis.
- Page 13 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 16. Solder the two individual contacts to the shield from the top. You might want to temporarily tape the contacts inside the chassis to hold them in place while you solder them, or you can use a battery to temporarily hold them in place while you solder.
- Page 14 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.
- Page 15 © 2001–2013 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.
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Page 16: Adding A Zumo Reflectance Sensor Array (Optional)
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... - Page 17 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.
- Page 18 The 2×12 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).
- Page 19 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, A0, 11, A3, and 4), and if you add the LEDON shorting block, one additional pin (either A4 or 2) is used.
- Page 20 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 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.
- Page 21 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 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...
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Page 22: The Zumo Shield In Detail
© 2001–2013 Pololu Corporation 3. The Zumo Shield in detail 3.a. Features and components The main features of the Zumo Shield are labeled in this diagram: Power The Zumo chassis has an internal compartment for four AA batteries. We recommend using rechargeable... - Page 23 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;...
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Page 24: Front Expansion
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. -
Page 25: Jumper Settings
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. • 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. -
Page 26: 3-Axis Compass Module (Accelerometer And Magnetometer)
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. - Page 27 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation with an older Arduino without separate SCL and SDA pins; please see Section 3.c for more details about the compass connections. 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).
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Page 28: Schematic Diagrams
Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 4. Schematic diagrams Schematic diagrams of the Zumo Shield are available as a downloadable PDF: Zumo Shield schematic diagrams (121k pdf). [http://www.pololu.com/file/download/zumo_shield_schematic.pdf?file_id=0J591] 4. Schematic diagrams Page 28 of 38... -
Page 29: Arduino Pin Assignment Table
Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 5. Arduino pin assignment table Digital pins 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) I²C SDA on Leonardo... -
Page 30: Zumo Shield Arduino Libraries
© 2001–2013 Pololu Corporation 6. Zumo Shield Arduino Libraries Our Zumo Shield Libraries make it 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’... - Page 31 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation QTRSensors This library, which can also be found in the qtr-sensors-arduino repository [https://github.com/pololu/qtr-sensors- , is a general library for interfacing with Pololu QTR reflectance sensors arduino] [http://www.pololu.com/catalog/category/ . Since the...
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Page 32: Example Projects
An easy way to connect the receiver to the Zumo Shield is to solder two 1×3 male header strips to the locations shown in the diagram below, then plug in a pair of standard [http://www.pololu.com/catalog/product/966]... -
Page 33: Simple Border-Detecting Sumo Robot
Zumo Reflectance Sensor Array conveniently mounts six of [http://www.pololu.com/catalog/product/1419] 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 ships with this reflectance sensor [http://www.pololu.com/catalog/product/2506]... -
Page 34: Maze Solver
3pi robot user’s guide [http://www.pololu.com/docs/0J21] 7.d. Using the compass This example program demonstrates using the magnetometer in the Zumo Shield’s LSM303DLHC 3-axis compass module (described in section Section 3.d) to help the Zumo coordinate ninety-degree turns and drive in squares. - Page 35 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 Pololu Corporation 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.
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Page 36: Controlling A Servo
RC servo from an Arduino Uno [http://www.pololu.com/catalog/category/23] or Arduino Leonardo that is connected to the Zumo Shield. The Arduino IDE includes a Servo [http://arduino.cc/en/ library that generates the pulses needed to control an RC servo. However, this servo library conflicts Reference/Servo] with the ZumoMotors library in that both rely on Timer 1. -
Page 37: Controlling A Servo With An Arduino Leonardo
Pololu Zumo Shield for Arduino User's Guide © 2001–2013 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. - Page 38 Pololu Zumo Shield for Arduino User's Guide © 2001–2013 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.
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