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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As an alternative to the Arduino, there's both
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* 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.
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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.
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This page (revision-10) was last changed on 2021-12-22 07:02 by Murray AltheimTop