[로봇사이언스몰][Pololu][포로루] Zumo Shield for Arduino, v1.2 #2508

This shield makes it easy to build an Arduino-controlled Zumo robot. The shield mounts onto an assembled Zumo chassis, connecting directly to the chassis’s battery terminals and motors, and the Arduino plugs into the shield, face down. This shield includes dual motor drivers, a buzzer for playing simple sounds and music, a user pushbutton, and a 3-axis accelerometer, compass, and gyroscope. The shield boosts the battery voltage to power the Arduino, and it breaks out the Arduino I/O lines, reset button, and user LED for convenient access and to accommodate additional sensors for things like obstacle and edge detection.

Overview

The Zumo Shield is designed specifically to be a convenient interface between a Zumo chassis and an A-Star 32U4 Prime, Arduino Uno, or Arduino Leonardo. The shield mounts directly to the chassis, connecting to its battery terminals and motors, and the A-Star Prime or Arduino plugs into the shield’s male header pins, face down. The shield provides all the electronics necessary to power the motors and includes some additional fun components for making a more interesting robot, such as a buzzer for making sounds, and a 3-axis accelerometer, compass, and gyroscope for sensing impacts and tracking orientation. The only differences between this v1.2 shield and the previous version are the addition of a 3-axis gyro and an upgrade of the accelerometer/magnetometer module

Zumo Shield for Arduino, v1.2, with included through-hole components installed.

With the Zumo Shield and an Arduino (or compatible board like the A-Star Prime), the Zumo chassis becomes a low-profile, Arduino-controlled tracked robot that is less than 10 cm on each side (small enough to qualify for Mini-Sumo competitions). It works with a variety of micro metal gearmotors to allow for a customizable combination of torque and speed, and a stainless steel sumo blade is available for applications that involve pushing around other objects. Arduino libraries and sample sketches are available for quickly getting a Zumo robot up and running.

Assembled Zumo robot for Arduino with an Arduino Uno (with original white sprockets).

Zumo robot assembled with a Zumo Shield and Arduino Uno, back view.

This shield is also available as part of our Zumo Robot kit for Arduino, which bundles it with a Zumo chassis and Zumo blade, and in our Zumo Robot for Arduino, which is preassembled with 75:1 HP micro metal gearmotors and a Zumo reflectance sensor array.

Features

• Integrated DRV8835 dual motor drivers capable of delivering enough current for two high-power (HP) micro metal gearmotors. See the Zumo chassis product page for specific motor suggestions.
• Piezo buzzer for playing simple sounds and music. The buzzer is controlled by one of the Arduino’s PWM outputs, so the tones can be generated in the background without taking up a lot of processing power.
• Integrated LSM303D 3-axis accelerometer and 3-axis magnetometer that can be used to detect impacts. The compass gets a lot of interference from the motors, batteries, PCB, and its surroundings, so it is not generally useful for precision navigation, but we have found that with proper calibration, it can be used for rough orientation measuring in many environments. This part is an upgrade over the LSM303DLHC accelerometer/magnetometer IC included on previous versions of the Zumo shield for Arduino.
• Integrated L3GD20H 3-axis gyroscope that can be used to track rotation. This is new on the v1.2 version of the Zumo shield; previous versions did not include a gyro. With this sensor and the LSM303D mentioned above, the shield effectively has a built-in MinIMU-9 v3 IMU module that can optionally be used to make a attitude and heading reference system (AHRS) so that your robot can its orientation.
• Optional user pushbutton on pin 12.
• 7.5 V boost regulator for powering the Arduino from the Zumo’s 4 AA batteries.
• Convenient access to Arduino I/O lines, the pin 13 user LED, and the Arduino reset line via the shield.
• General-purpose prototyping areas and an expansion area at the front for connecting additional sensors (it is easy to add a Zumo reflectance sensor array or up to five QTR sensors for edge detection or line following).
• Compatible with the Arduino Uno R3 and Arduino Leonardo, and can also be used with older Arduinos that have the same form factor, like the Duemilanove.
• Arduino libraries and sample code make getting started easy.
• Detailed user’s guide with assembly instructions.
  

Included Components

The Zumo Shield ships with all of the components required for shield assembly, as shown in the main product picture. Note that soldering is required; please see the user’s guide for detailed assembly instructions. This shield does not include motors or the Zumo chassis itself, though it is available as part of a Zumo Robot kit for Arduino that includes everything you need to build your Zumo robot except motors, an Arduino, and batteries. If you just want a robot that is already put together, we also sell a fully assembled Zumo Robot for Arduino – just add batteries and an Arduino or A-Star Prime and it is ready to go.

Required Accessories (not included)

To use this shield you will need a few additional parts:

• A Zumo chassis kit. This shield is also available as part of a Zumo robot kit bundled with the Zumo chassis kit and a Zumo blade and part of a preassembled Zumo Robot.
• Two micro metal gearmotors. These gearmotors are available in several power options and a wide variety of gear ratios, allowing for a customizable combination of torque and speed. The Zumo Shield can deliver enough power for all of the micro metal gearmotors we carry, including the high-power (HP) versions. Note that some gear ratios are better suited for the Zumo than others; please see the Zumo chassis kit product page for specific motor suggestions.
• Four AA batteries. The Zumo chassis works with both alkaline and NiMH batteries, though we recommend rechargeable NiMH cells.
• An Arduino or compatible control board. The Zumo Shield works with the A-Star 32U4 Prime, Arduino Uno and Arduino Leonardo. 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. (Other Arduino-compatible controllers might work with the Zumo robot, but support for them will be limited and they might require modification; for example, one customer got his Zumo robot working with the Freescale FRDM-KL25Z board.)
  

  Zumo chassis being assembled with two micro metal gearmotors.

Optional Accessories

Zumo reflectance sensor array on a Zumo robot, bottom view.

Comparison with the Zumo 32U4 robot

The newer Zumo 32U4 is another robot based on the Zumo chassis. It is a more highly integrated robot than the Zumo robot for Arduino, with enhancements that include a built-in Arduino-compatible ATmega32U4 microcontroller (the same one used in the Arduino Leonardo and A-Star 32U4 boards), an LCD, encoders for closed-loop motor control, and proximity sensors for obstacle detection. The Zumo 32U4 main board effectively combines the functions of the Zumo Shield and the separate Arduino controller into a single, compact board that is just as easy to program as a standard Arduino or A-Star thanks to its USB interface and preloaded Arduino-compatible bootloader.

A Zumo 32U4 robot (left) and a Zumo robot for Arduino with an A-Star 32U4 Prime LV (right).

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.

Documentation and other information

Pololu Zumo Shield for Arduino User’s Guide (Printable PDF)

User’s manual for the Pololu Zumo Shield for Arduino.

File downloads

Zumo Shield for Arduino, v1.2 schematic diagram (449k pdf)

Printable schematic diagram for the Pololu Zumo Shield for Arduino, v1.2

Zumo Shield front expansion pinout (552k pdf)

Texas Instruments DRV8835 motor driver datasheet (1MB pdf)

LSM303D datasheet (1MB pdf)

Datasheet for the ST LSM303D 3D accelerometer and 3D magnetometer module.

L3GD20H datasheet (3MB pdf)

Datasheet for the ST L3GD20H three-axis digital-output gyroscope.

Dimension diagram of the Zumo Shield for Arduino, v1.2 (467k pdf)

3D model of the Zumo Shield for Arduino, v1.2 (13MB step)

Zumo Shield for Arduino, v1.2 drill guide (214k dxf)

This DXF drawing shows the locations of all of the board’s holes.

Guide utilisateur du Robot Zumo Pololu (2MB pdf)

Un guide complet pour assembler, utiliser et exploiter rapidement votre Robot Zumo (version 0.1). Note: This French translation of our Zumo Robot for Arduino user’s guide was made by our distributor MCHobby.

Recommended links

Zumo Shield Libraries

This collection of libraries and examples for the Arduino that make it easy to program an Arduino-controlled robot built with Pololu’s Zumo Shield or Zumo robot kit (also available fully assembled).

LSM303 Arduino library

This is a library for the Arduino that interfaces with our LSM303D, LSM303DLHC, and LSM303DLM 3D compass and accelerometer carriers as well as the compass and accelerometer ICs on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the LSM303DLH and LSM303DLHC). It makes it simple to configure the device and read the raw accelerometer and magnetometer data, and it has a function for computing the tilt-compensated heading for those looking to use the LSM303 as a tilt-compensated compass.

L3G Arduino library

This is a library for the Arduino that interfaces with our L3GD20H and L3GD20 3-axis gyro carriers as well as the gyros on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the L3G4200D and the L3GD20). It makes it simple to configure the device and read the raw gyro data.

Simulink Library for Zumo Robot

This library can be used to program an Arduino-controlled Zumo through MATLAB and Simulink. It provides driver blocks for all the sensors present on the Zumo Robot as well as example models showing their usage.

How to program a Zumo robot with Simulink

This tutorial on the Adafruit Learning System guides you through the process of programming a Zumo robot with Simulink.

Pixy Pet Robot tutorial: adding color vision to the Zumo Robot for Arduino with a Pixy CMUCam-5

This tutorial from Adafruit shows how to pair a Pixy CMUCam-5 vision system with the Zumo Robot for Arduino to enable it to chase objects or follow you around.

Zumo robot tuning tips

This article was written by Professor Erich Styger for his class on embedded systems programming at the Lucerne University of Applied Sciences and Arts. It describes various ways to tweak the performance of a Zumo to be more competitive in a Mini Sumo competition. Note that his Zumos use a custom PCB rather than our Zumo shield for Arduino; our shield has a lot of capacitance in parallel with the batteries that generally prevents the “battery inertia” problem Erich describes.

Using the L3GD20 gyroscope in control systems

This is a YouTube playlist by control systems lecturer Brian Douglas that uses the L3GD20 MEMS gyroscope. It describes the fundamentals of the gyro and how to use it for closed and open loop control projects with MATLAB/Simulink and Arduino.

Freedom Zumo Robot

This robot is uses our Zumo robot kit, 75:1 micro metal gearmotors, and a Zumo reflectance sensor array. Instead of an Arduino it uses a Freescale FRDM-KL25Z as the microcontroller board, and sample code is available for line following and maze solving. By Erich, March 2013.