This page (revision-10) was last changed on 2021-12-22 07:02 by Murray Altheim

This page was created on 2020-06-09 08:30 by Murray Altheim

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Page References

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Zumo Robot
ZumoRobot

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At line 1 added 4 lines
%%alias
aliased from [Zumo]
%%
At line 11 added 31 lines
As an alternative to the Arduino, there's both
* a [Kiktronik Robotics Controller for the Pico|https://shop.pimoroni.com/products/kitronik-robotics-board-for-raspberry-pi-pico] which could be easily mounted on a Zumo chassis, or
* a [PyBoard Zumo Adapter|https://shop.mchobby.be/en/micropython/2040-pyboard-to-zumo-robot-adapteur-3232100020405.html] that plugs a [MicroPython]-based [PyBoard] ([STM32]) as a controller, designed for the Zumo
!! Encoder Wiring
When wiring up a pair of Hall effect encoders to the Zumo Shield for Arduino you'll find that the [documentation 1|https://www.pololu.com/docs/0J63/3.4] for the quadrature encoders on the Zumo 32U4 states:
* __Digital pin 7__, or PE6, reads the __right encoder XORed signal__ using external interrupt INT6.
* __Digital pin 8__, or PB4, reads the __left encoder XORed signal__ using pin change interrupt PCINT4.
* __Digital pin 23__ (analog pin 5), or PF0, reads the __right encoder channel B__.
* Pin __PE2__ reads the __left encoder channel B__.
On the ''Arduino Shield for Zumo'' there is no pin "PE2", so you'll just have to choose any available (unused) digital input pin for channel B of the left encoder.
%%information
By the way, I always call the left side of the robot the __port__ side, the right side as __starboard__, since this removes any ambiguity, like is it left or right when viewed from on board, or from above, etc. This is the same as on a ship.
%%
!! References
* [Say Hello To My Little Friend – Zumo Part I|https://solderspot.wordpress.com/2014/02/03/say-hello-to-my-little-friend/], first in a series of blog posts describing a Zumo build (also had a post on his experience building a [PID controller|https://solderspot.wordpress.com/2014/01/29/pid-controllers-101/]
* [Zumo Robot with Magnetic Encoders|https://mcuoneclipse.com/2016/03/25/zumo-robot-with-magnetic-encoders/], description of a custom board developed at Lucerne University using Hall Effect encoders on a Zumo chassis; see also: [Adding Quadrature Encoder to the Zumo Chassis|https://mcuoneclipse.com/2013/06/15/adding-quadrature-encoder-to-the-zumo-chassis/], the earlier optical encoder version
* [SC 2015 Semilab: Robotics with LEGO NXT|https://sigmacamp.org/2015/semilabs/robotics], using a Zumo in competition
!! Has Tag Of ''Zumo''
[{HasTagOf Zumo}]
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[{Tag RobotSumo}]
[{Tag Zumo RobotSumo}]
This page (revision-10) was last changed on 2021-12-22 07:02 by Murray AltheimTop