1. Manuals
  2. Brands
  3. Pololu Manuals
  4. Robotics
  5. Zumo 32U4
  6. User manual

Pololu Zumo 32U4 User Manual

Hide thumbs Also See for Zumo 32U4:
Table of Contents

Advertisement

Quick Links

Download this manual
Pololu Zumo 32U4 Robot User's Guide
© 2001–2022 Pololu Corporation
Pololu Zumo 32U4 Robot
User's Guide
https://www.pololu.com/docs/0J63/all
Page 1 of 90

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Zumo 32U4 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Pololu Zumo 32U4

Summary of Contents for Pololu Zumo 32U4

  • Page 1 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Pololu Zumo 32U4 Robot User’s Guide https://www.pololu.com/docs/0J63/all Page 1 of 90...

  • Page 2: Table Of Contents

    5. Programming the Zumo 32U4 ........69...

  • Page 3: Overview

    Mini-Sumo competitions. At the heart of the Zumo 32U4 is an integrated ATmega32U4 AVR microcontroller from Atmel, along with dual H-bridge drivers that power the robot’s motors. The robot also features a variety of sensors, including quadrature encoders and inertial sensors (accelerometer and gyro) on the main board, along with reflectance and proximity sensors on the front sensor array.

  • Page 4: Comparison With The Zumo Robot Kit For Arduino (With Zumo Shield)

    Assembled Zumo 32U4 robot, top view. view. The LCD version of the Zumo 32U4 main board has been produced in two revisions that use different on-board inertial sensor ICs: v1.0 boards had an LSM303D accelerometer and magnetometer and L3GD20H gyro, while v1.1 boards have an LSM6DS33 [https://www.pololu.com/product/2736]...

  • Page 5: Configurations And Included Components

    Zumo Shield, including encoders, an OLED display or LCD, and proximity detection. Some of the pin mappings and software libraries differ between the Zumo 32U4 and Zumo robot for Arduino, so programs written for one robot generally need to be modified to work on the other.

  • Page 6: Zumo 32U4 Robot Kit Contents

    Zumo 32U4 OLED robot if you do not want all of the parts included with our full kit. The original (LCD) version of the Zumo 32U4 robot is also available as a [https://www.pololu.com/...
  • Page 7 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation ◦ two idler sprockets ◦ two 22-tooth silicone tracks ◦ two shoulder bolts with washers and M3 nuts ◦ four 1/4″ #2-56 screws and nuts ◦ battery terminals • Zumo 32U4 OLED Main Board , which includes: [https://www.pololu.com/product/4994]...
  • Page 8 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 1. Overview Page 8 of 90...
  • Page 9 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 1. Overview Page 9 of 90...

  • Page 10: Assembled Zumo 32U4 Robot

    © 2001–2022 Pololu Corporation The diagrams above show the contents of the Zumo 32U4 OLED Kits. For the contents of the original Zumo 32U4 Kit, which includes an LCD and differ in a few other parts, refer to these diagrams instead.

  • Page 11: What You Will Need

    • Red: 100:1 HP The assembled Zumo 32U4 robot is fitted with wide-angle IR emitter LEDs (clear); the narrow-angle LEDs (blue) are not included. 1.2. What you will need These additional items are needed for using the Zumo 32U4 robot: •...

  • Page 12: Kit Assembly Tools

    . Be sure to pick a [https://www.pololu.com/category/141/micro-metal-gearmotors-with-extended-motor-shafts] motor that has an extended shaft, or else you will not be able to use the encoders on the Zumo 32U4. Kit assembly tools These additional items are needed for assembling the Zumo 32U4 robot kit: •...

  • Page 13: Supported Operating Systems

    [https://www.pololu.com/product/2588] 1.3. Supported operating systems The Zumo 32U4 can be programmed using current versions of Microsoft Windows 11, Windows 10, Linux, and macOS. See our A-Star 32U4 bootloader page on GitHub [https://github.com/pololu/a-...

  • Page 14: Contacting Pololu

    © 2001–2022 Pololu Corporation 2. Contacting Pololu We would be delighted to hear from you about your experiences with the Zumo 32U4 robot. If you need technical support or have any feedback you would like to share, you can contact us...

  • Page 15: The Zumo 32U4 In Detail

    3. The Zumo 32U4 in detail 3.1. Microcontroller The Zumo 32U4 main board features an integrated, USB-enabled ATmega32U4 AVR microcontroller from Atmel, clocked by a precision 16 MHz crystal oscillator. This is the same microcontroller and clock frequency used in our family of A-Star 32U4 programmable controllers [https://www.pololu.com/...
  • Page 16 (VBUS) is present. Pushbuttons The Zumo 32U4 has four pushbuttons: a reset button on the right edge and three user pushbuttons located along the rear edge of the main board. The user pushbuttons, labeled A, B, and C, are on Arduino pin 14 (PB3), PD5, and Arduino pin 17 (PB0), respectively.

  • Page 17: Display Header

    Zumo32U4 library take care of configuring the pins, reading and debouncing the buttons, and restoring the pins to their original states. Display header The Zumo 32U4 OLED has a 1×7 header where you can connect a graphical OLED module with a low-profile male header. The included display has a resolution [https://www.pololu.com/product/3760]...

  • Page 18: Motors

    © 2001–2022 Pololu Corporation 3.3. Motors Two on-board Texas Instruments DRV8838 motor drivers power the Zumo 32U4’s two micro metal gearmotors. Four Arduino pins are used to control the drivers: • Digital pin 15, or PB1, controls the right motor direction (LOW drives the motor forward, HIGH drives it in reverse).
  • Page 19 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation per revolution of the motor shaft when counting both edges of both channels. To compute the counts per revolution of the drive sprockets, multiply the gearboxes’ gear ratio by 12. For example, if...

  • Page 20: Front Sensor Array (Line And Proximity Sensors)

    A rises before B rises and A falls before B falls. (The waveforms in the diagram above would be produced by forward rotation.) The Zumo 32U4 library provides appropriate interrupt service routines and functions for reading the encoders and keeping track of their counts (see Section 3.5.
  • Page 21 I/O line. When the sensor is active, it will drive the line low. The proximity sensors do not have IR emitters paired with them; instead they detect reflected 38 kHz IR light that comes from LEDs on the Zumo 32U4 Main Board, which are described Section 3.6.

  • Page 22: Pin Assignments

    The infrared emitted by the line sensors can interfere with the proximity sensors and cause false readings, so it is recommended to turn off the line sensor emitters before using the proximity sensors. The Zumo32U4ProximitySensors class from the Zumo 32U4 Arduino library takes care of turning off the line sensor emitters.

  • Page 23: Proximity Sensing

    3.6. Proximity sensing The Zumo 32U4 can detect nearby objects using the three proximity sensors on the front sensor array. The proximity sensors do not emit their own light; instead they are designed to detect 38 kHz infrared (IR) signals from emitters on the Zumo 32U4 Main Board.

  • Page 24: Ir Led Holder

    © 2001–2022 Pololu Corporation The kit version of the Zumo 32U4 comes with two types of through-hole IR LEDs that can be installed to serve as the forward emitters. Both types of LEDs use the T-1 3/4 package, meaning they have a diameter of approximately 5 mm.

  • Page 25: Shielding With Heat Shrink Tubing

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation IR LEDs with LED holder. Shielding with heat shrink tubing You can make shrouds out of black heat shrink tubing to shield the forward emitters as an alternative to using the LED holder. Without the LED holder, the LEDs are less securely mounted, but you can more easily adjust their positioning.

  • Page 26: Facing Towards An Object

    This could be a good starting point for a sumo robot that uses the front sensors to locate its opponent. 3.7. Inertial sensors The Zumo 32U4 includes on-board sensors that can be used as an inertial measurement unit (IMU) for applications like helping your Zumo detect collisions and determine its own orientation.

  • Page 27: Using The Sensors

    , and L3G Arduino library [https://github.com/pololu/lsm303-arduino] [https://github.com/pololu/l3g-arduino] The Zumo 32U4 main boards use the same inertial sensor ICs as some of our IMU boards, like the MinIMU-9 v5 , so Arduino software written for the MinIMU-9 (such [https://www.pololu.com/product/2738] as our...

  • Page 28: Power

    USB. Consequently, when the Zumo 32U4 is connected to a computer via USB, it will receive 5 V logic power even when the power switch is off. This can be useful if you want to upload or test a program 3.

  • Page 29: Alternative Power Sources

    Adding a power switch You can add your own power switch to the Zumo 32U4 using the PSW pin. When it is in the on position, your switch should connect PSW to GND. In that case, VBAT will receive power when either your switch or the main board switch are on.
  • Page 30 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation (546k pdf) (original LCD version) Zumo 32U4 OLED top expansion pinout. 3. The Zumo 32U4 in detail Page 30 of 90...

  • Page 31: Pin Assignments

    The table below lists the most important pin assignments for the ATmega32U4 on the Zumo 32U4. This table is helpful if you want to add your own electronics to the Zumo 32U4, write your own low-level code for interfacing with the hardware, or just want to understand better how the Zumo 32U4 works.
  • Page 32 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation The “Zumo 32U4 functions” column documents what the pin is used for on the Zumo 32U4. Many pins can serve multiple purposes concurrently by switching modes. For example, PB0 can read the state of button C when it is an input, and it can control the red LED and serve as a display data line when it is an output.
  • Page 33 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Arduino ATmega32U4 Zumo 32U4 functions Notes/alternate functions pin name names Timer0 PWM output A (OC0A) Timer1 PWM output C (OC1C) Line sensor IR LED control UART flow control (RTS) Pin-change interrupt (PCINT7)
  • Page 34 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Arduino ATmega32U4 Zumo 32U4 functions Notes/alternate functions pin name names (D/C) LCD version: LCD data line DB5 Timer4 PWM output A (OC4A) Yellow LED Timer3 input capture pin (ICP3) LCD version: LCD data line DB6...

  • Page 35: Adding Electronics

    Analog reference 3.11. Adding electronics This section gives tips for how the Zumo 32U4 can be expanded with additional electronics. Freeing up I/O pins If you want your additional electronics to send or receive information from the AVR, you will need to connect them to one or more of the AVR’s I/O pins.
  • Page 36 On the original (LCD) version of the Zumo 32U4, if you have removed the LCD and do not need to use button A, this frees up pin 14 (PB3). Pin 14 is capable of digital input and output. Removing the LCD also frees up the LCD contrast potentiometer for other purposes.

  • Page 37: Making The Physical Connections

    USB). If you power them from the 5V pin, then they will receive 5V power whenever the Zumo 32U4 logic components are powered. If you power them from 3V3, they will receive 3.3V power whenever the Zumo 32U4 logic components are powered. For more information...

  • Page 38: Avr Timers

    • Timer1 is used by the Zumo 32U4 Arduino library for driving motors. • Timer3 is used by the Zumo 32U4 Arduino library for emitting 38 kHz IR pulses for the proximity sensors, but it can be used for other purposes between readings of the sensors.
  • Page 39 • Zumo 32U4 Main Board drill guide (239k [https://www.pololu.com/file/0J1773/zum02c-drill.dxf] dxf) (original LCD version) 3D models of the Zumo 32U4 Main Board and robot are also available in STEP format: • Zumo 32U4 OLED Main Board 3D model [https://www.pololu.com/file/0J1853/zumo-32u4-oled- (24MB step) main-board.step]...
  • Page 40 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Pololu Zumo chassis, assembled front view with dimensions. Pololu Zumo chassis, assembled top view with dimensions, shown with motors. 3. The Zumo 32U4 in detail Page 40 of 90...

  • Page 41: Assembling The Zumo 32U4 Kit

    Zumo 32U4 robot kit. Please follow these instructions carefully to assemble your Zumo 32U4 robot kit properly. If you have an assembled version of the Zumo 32U4 robot, you can skip to...
  • Page 42 Motors If you have an older Zumo 32U4 kit with white sprockets (which we shipped before May 2015), you should skip step 4 and install the drive sprockets after step 14 instead, at the same time as the idler sprockets. (If the white drive sprockets were attached now, their shape would make the motors, chassis, and main board difficult to assemble.)
  • Page 43 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 5. 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).
  • Page 44 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 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.
  • Page 45 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation is flush with the back of the disc. One easy way to accomplish this is to press the motor onto the disc while the disc is sitting on a flat surface, pushing until the shaft makes contact with that surface.
  • Page 46 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 9. Cover the chassis and motors with the main board. The motor leads should be inserted into the through holes next to the motor drivers. 4. Assembling the Zumo 32U4 kit...
  • Page 47 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 10. Screw the main board to the chassis: we recommend using four screws in the holes closest to the corners of the board. In each of the four mounting holes, insert a #2-56 machine screw through the main board and chassis, and tighten it against a nut under the chassis.
  • Page 48 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 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: 3/16″ and 1/4″. The two longer screws are intended for use in the front holes (near the motors) so that the additional thickness of a sumo blade can be accommodated.
  • Page 49 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 12. Solder the 2×12 female header (front sensor array connector) to the bottom of the front expansion area on the main board. It should be flush with the chassis. 4. Assembling the Zumo 32U4 kit...

  • Page 50: Battery Contacts

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Battery contacts 13. Turn the chassis over and install the battery terminal contacts as shown in the pictures below. The three double-contact pieces should be firmly pressed into place until they are flush with the interior surface of the battery compartment.
  • Page 51 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 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 or clamp these two individual contacts in place until they have been soldered to the main board as described in the next step, or you can use a battery to temporarily hold them in place.

  • Page 52: Idler Sprockets And Tracks

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 14. Solder the two individual contacts to the main board from the top. Note that if 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.
  • Page 53 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation the chassis). 17. 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.
  • Page 54 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Blade 19. If necessary, bend the blade’s mounting tabs to the appropriate angle (about 75 degrees from flat). 20. Remove the two 1/4″ screws attaching the front of the main board to the chassis.
  • Page 55 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Display 22. Solder the 1×7 low-profile header to the OLED display (or the 2×7 low-profile header to the LCD). The shorter side of the header should be inserted fully through the corresponding through holes from the bottom side of the display module until the header is flush, and the solder joints should be made on the top (screen) side of the display.
  • Page 56 Installing header pins on the LCD. 23. On the Zumo 32U4 OLED version, you can optionally install a #2-56 standoff to help support the OLED display. Tighten the standoff against a nut under the chassis. 4. Assembling the Zumo 32U4 kit...

  • Page 57: Front Sensor Array

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 24. Plug the display into the matching female header on top of the main board; the display should cover the buzzer. You can optionally use one more 3/16″ #2-56 screw to secure the OLED display to the standoff.
  • Page 58 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 27. On each 1×3 header, install a shorting block to connect the sensor of your choice. (See Section 3.5 for details.) 28. Plug the sensor array into the matching female header on the bottom of the main board.

  • Page 59: Forward Emitters

    © 2001–2022 Pololu Corporation Forward emitters 29. Choose a pair of through-hole infrared LEDs to use as the forward emitters. (See Section for details about the different LEDs included with the Zumo 32U4.) 4. Assembling the Zumo 32U4 kit Page 59 of 90...
  • Page 60 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation The forward IR emitter LEDs can be installed using the plastic LED holder, which we recommend using in most cases (continue to step 30). Alternatively, they can be installed without the LED holder using heat shrink tubing as shrouds;...
  • Page 61 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 32. Trim the LED leads so that they extend slightly below the bottom of the LED holder. 4. Assembling the Zumo 32U4 kit Page 61 of 90...
  • Page 62 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 33. Install the LED holder behind the blade by inserting the LED leads into the machine pin sockets in the front of the main board. 4. Assembling the Zumo 32U4 kit...
  • Page 63 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 34. Use two 3/16″ #2-28 thread-forming screws to fasten the LED holder to the blade. Note that the screw heads will not be completely flush against the blade when properly tightened; to avoid damaging the LED holder, do not overtighten the screws! 4.

  • Page 64: Forward Emitters - Alternate Method (Without Led Holder)

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation To finish assembly after installing the forward emitters with the LED holder, skip to step Forward emitters – alternate method (without LED holder) 35. Use a pair of long-nose pliers to bend the LED leads to approximately match the shapes pictured, making sure that each LED’s anode (the longer lead that ends in the smaller post...
  • Page 65 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 37. Cut a length of heat shrink tubing about 3/4″ (19 mm) long. 3/16″ diameter heat shrink tubing can work well (we included tubing of this size with kits prior to August 2015), but please note that the actual diameter of heat shrink tubing often differs significantly from its nominal diameter, depending on the type and manufacturer of the tubing.
  • Page 66 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Batteries 40. Install four new or freshly charged AA batteries in the battery compartment. (We recommend using rechargeable AA NiMH cells [https://www.pololu.com/product/1003] 41. Replace the battery compartment cover. 4. Assembling the Zumo 32U4 kit...
  • Page 67 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 4. Assembling the Zumo 32U4 kit Page 67 of 90...
  • Page 68 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation The assembly of your Zumo 32U4 robot is now complete, and it is ready to be programmed and run! 4. Assembling the Zumo 32U4 kit Page 68 of 90...

  • Page 69: Programming The Zumo 32U4

    Service Pack 3, so we recommend Service Pack 3 over the hotfix. Before you connect your Pololu A-Star 32U4 (or another of our 32U4 family of boards) to a computer running Microsoft Windows, you should install its drivers: 1.
  • Page 70 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 4. Windows will not tell you when the installation is complete, but it should be done after a few seconds. Windows 10, Windows 8, Windows 7, and Windows Vista users: After installing the drivers, your computer should automatically recognize the device when you connect it via USB.

  • Page 71: Programming Using The Arduino Ide

    After installing the drivers and plugging in an A-Star, in the “Ports (COM & LPT)” category of the Device Manager, you should see a COM port for the A-Star’s running sketch named “Pololu A-Star 32U4”. You might see that the COM port is named “USB Serial Device” in the Device Manager instead of having a descriptive name.
  • Page 72 URL on a new line. Adding a Boards Manager index for Pololu boards in the Arduino IDE’s Preferences dialog. 4. Click the “OK” button to close the Preferences dialog.
  • Page 73 8. After the installation finishes, click the “Close” button to close the Boards Manager dialog. 9. In the Tools > Board menu, select the “Pololu A-Star 32U4” entry. If you do not see your device listed in the Board menu, try restarting the Arduino IDE.
  • Page 74 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation Windows 10 Device Manager showing the A-Star’s virtual COM port. 11. Open up the “Blink” Arduino example, which can be found under File > Examples > 01.Basics > Blink. The code in this example will blink the yellow LED. When you select the Blink example, a new Arduino IDE window will open up.
  • Page 75 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation USB port, then Windows might take several seconds to recognize the A-Star bootloader. The bootloader times out after 8 seconds and goes back to running the sketch, so the upload might fail if Windows does not recognize it quickly enough.

  • Page 76: Programming Using Avr-Gcc And Avrdude

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation the LED. The A-Star 32U4 boards are similar enough to the Arduino Leonardo that you do not actually have to install the add-on. If you want to, you can just select the “Arduino Leonardo”...

  • Page 77: Compiling An Example Program

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation that can be used to upload programs to the A-Star bootloader. If the version of GNU Make avrdude/] that comes with WinAVR crashes on your computer, we recommend using the...
  • Page 78 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation MCU=atmega32u4 CFLAGS=-g -Wall -mcall-prologues -mmcu=$(MCU) -Os LDFLAGS=-Wl,-gc-sections -Wl,-relax CC=avr-gcc TARGET=main OBJECT_FILES=main.o all: $(TARGET).hex clean: rm -f *.o *.hex *.obj *.hex %.hex: %.obj avr-objcopy -R .eeprom -O ihex $< $@ %.obj: $(OBJECT_FILES) $(CC) $(CFLAGS) $(OBJECT_FILES) $(LDFLAGS) -o $@ program: $(TARGET).hex...

  • Page 79: Zumo 32U4 Arduino Library

    © 2001–2022 Pololu Corporation 6. Zumo 32U4 Arduino library The Zumo 32U4 can be programmed from the Arduino IDE as described in the preceding sections. To help interface with all the on-board hardware on the Zumo 32U4, we provide the Zumo32U4 library.

  • Page 80: The Zumo 32U4 Usb Interface

    On a Windows computer, you can see the virtual serial port by going to your computer’s Device Manager and expanding the “Ports (COM & LPT)” list. You should see a COM port labeled “Pololu A- Star 32U4”. In parentheses after the name, you will see the name of the port (e.g. “COM3” or “COM4”).
  • Page 81 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 32U4” COM port. Near it, you should see the parent composite device. The Windows 10 Device Manager in “Devices by connection” mode, showing that the A-Star is a composite device.

  • Page 82: The A-Star 32U4 Bootloader

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 8. The A-Star 32U4 Bootloader Our 32U4 family of boards come with a USB bootloader that can be used in conjunction with the Arduino IDE or AVRDUDE to load new programs onto the device. This section documents some technical details of the bootloader for advanced users who want to better understand how it works.

  • Page 83: Brown-Out Detection

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation The startup logic for the A-Star 32U4 bootloader. Brown-out detection Unlike many other ATmega32U4 boards, our 32U4 family of boards have brown-out detection enabled. The brown-out threshold is 4.3 V, and if the voltage on VCC goes below this then the AVR will reset.
  • Page 84 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation The bootloader was designed so that the user program can detect brown-out resets. To do so, check to see if the BORF bit in the MCUSR register is set, and then clear it later. Here is some example code...

  • Page 85: Reviving An Unresponsive Zumo 32U4

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 9. Reviving an unresponsive Zumo 32U4 In order to load a new program onto your A-Star 32U4 device, you will need to get it into bootloader mode and send programming commands to it over its virtual serial port using appropriate software. If...

  • Page 86: The Uploading-Before-Bootloader Method

    1. Connect the device to your computer via USB. 2. In the “Tools” menu, open the “Board” sub-menu and check to see if the “Pololu A-Star 32U4 (bootloader port)” entry is visible. If this entry is visible, you can skip to step 6.
  • Page 87 Blink example that can be found under File > Examples > 01.Basics > Blink. After reviving your device, be sure to change the Board setting back to “Pololu A-Star 32U4” and select the right Port.

  • Page 88: Reviving Using Avrdude

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 9.2. Reviving using AVRDUDE This section explains a special method for reviving an A-Star (or another of our 32U4 family of boards) using the command-line utility AVRDUDE in case your usual method of [http://www.nongnu.org/avrdude/]...

  • Page 89: Related Resources

    Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation 10. Related resources To learn more about using the Zumo 32U4, see the following list of resources: • The Arduino IDE has many examples that can run on the [http://arduino.cc/en/Tutorial/HomePage] Zumo 32U4 (although note that the Zumo’s on-board hardware might conflict with some of...
  • Page 90 Pololu Zumo 32U4 Robot User’s Guide © 2001–2022 Pololu Corporation (268k pdf) tssp77038.pdf] • ST LSM6DS33 3D accelerometer and 3D gyro module datasheet [https://www.pololu.com/ (1MB pdf) file/0J1087/LSM6DS33.pdf] • ST LIS3MDL 3-axis magnetometer datasheet [https://www.pololu.com/file/0J1089/LIS3MDL.pdf] (2MB pdf) • LSM303D accelerometer magnetometer...

Table of Contents