Zumo Robot for Arduino, v1.2 (Assembled with 75:1 HP Motors) Pololu

DESCRIPTION

The Zumo robot is an Arduino-controllable tracked robot platform that is less than 10 cm x 10 cm – small enough to qualify for Mini Sumo. It includes two micro metal gearmotors coupled to a pair of silicone tracks, a stainless steel bulldozer-style blade, an array of six infrared reflectance sensors for line following or edge detection, a buzzer for simple sounds and music, a 3-axis accelerometer, magnetometer, and gyro for detecting impacts and tracking orientation. Just add 4 AA batteries and an Arduino (or compatible controller) and you are ready to push! No soldering or assembly is required.

The Zumo robot is a low-profile tracked robot platform intended for use with an Arduino (or compatible device) as its main controller. It measures less than 10 cm on each side and weighs approximately 300 g with an Arduino Uno and batteries (165 g without, as shipped). It uses two 75:1 HP micro metal gearmotors to drive the treads, providing a top speed of approximately 2 feet per second (60 cm/s), which makes it much more agile than competing robots like the Solarbotics Sumovore and Parallax SumoBot while still offering plenty of control.

The Zumo control board is essentially a shield for the Arduino Uno or Leonardo, both of which can be plugged directly into the shield’s male header pins, face down. (It is not compatible with the Arduino Mega or Due) The shield includes dual motor drivers, a buzzer for playing simple sounds and music, a user pushbutton, and a 3-axis accelerometer, compass, and gyroscope for sensing impacts and tracking orientation. It also boosts the battery voltage to power the Arduino and breaks out the Arduino I/O lines, reset button, and user LED for convenient access and to accommodate additional sensors.

The Zumo Arduino libraries make it easy to interface with all of the integrated hardware, and a number of sample programs are provided with that show how to use the Zumo’s reflectance array, pushbutton, buzzer, and motors. There is also a basic LSM303 Arduino library and L3G Arduino library that make it easier to interface with the built-in LSM303D 3-axis accelerometer and magnetometer and L3GD20H 3-axis gyro.

FEATURES

• Integrated 75:1 HP micro metal gearmotors that offer a good blend of speed (up to 2 feet per second), power, and control.
• Mounted array of six IR reflectance sensors that allows the Zumo to detect contrasts in reflectivity directly beneath its blade, which can be used for following lines or detecting edges (e.g. the white outer area of a sumo ring or the edge of a table).
• Integrated DRV8835 dual motor drivers capable of delivering enough current for the Zumo’s two high-power gearmotors.
• Piezo buzzer for playing simple sounds and music. The buzzer is controlled by one of the Arduino’s PWM outputs, so 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.
• Compatible with the Arduino Uno R3 and Arduino Leonardo. Can also be used with older Arduinos that have the same form factor, like the Duemilanove.

RESOURCES

• Pololu Zumo Shield for Arduino User’s Guide
• Zumo Shield for Arduino, v1.2 schematic diagram
• Zumo Shield front expansion pinout
• Texas Instruments DRV8835 motor driver datasheet
• LSM303D datasheet
• L3GD20H datasheet
• Zumo Shield Libraries
• LSM303 Arduino library
• L3G Arduino library
• Simulink Library for Zumo Robot
• How to program a Zumo robot with Simulink
• Zumo robot tuning tips
• Using the L3GD20 gyroscope in control systems
• Freedom Zumo Robot