Pololu Zumo User Manual

Pololu Zumo Shield for Arduino
User's Guide
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3. The Zumo Shield in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.a. Features and components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.b. Front expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.c. Jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.d. 3-axis compass module (accelerometer and magnetometer) . . . . . . . . . . . . . . . . . . . . . . 20
4. Schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5. Arduino pin assignment table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6. Zumo Shield Arduino Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7. Example project: Border-detecting sumo robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.a. Adding QTR reflectance sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.b. Arduino sketch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Pololu Zumo Shield for Arduino User's Guide © 2001–2012 Pololu Corporation
http://www.pololu.com/docs/0J57/all Page 1 of 28

Pololu Zumo Specifications

General

Microcontroller	Atmega32U4
Operating Voltage	5 V
Motor Channels	2
Programming Interface	USB
Battery Type	4xAA (not included)
Sensors	Line sensors, quadrature encoders
Compatibility	Arduino
Gear Ratio	75:1

Summary

Assembly

2.a. What you will need

2.b. Assembling the Zumo Shield and chassis

Step-by-step guide for physically connecting the shield and chassis.

Motors

Guidance on connecting the Zumo's motors to the shield, including orientation.

Chassis and shield

Instructions for attaching the Zumo Shield and spacer plates to the main chassis.

The Zumo Shield in detail

3.a. Features and components

Overview of the Zumo Shield's main hardware features and their functions.

3.c. Jumper settings

3.d. 3-axis compass module (accelerometer and magnetometer)

Arduino pin assignment table

Zumo Shield Arduino Libraries

Example project: Border-detecting sumo robot

7.a. Adding QTR reflectance sensors

Guide on attaching QTR reflectance sensors to detect the edge of a sumo ring.

7.b. Arduino sketch