[{Image src='attach/KRZ01/krz-01-carpet-800w.jpg' caption='The KRZ01 at home on the lounge carpet' align='center'}]
The __KRZ01__ robot is a [robot prototype] in the [mini weight class|RobotWeightClasses].
''(You can also see the [NZPRG blog entry on the KRZ01|https://robots.org.nz/2020/02/07/krz-01/] and a [motor test video|https://youtu.be/VdvCCPvwDmE] on the [NZPRG YouTube Channel|https://www.youtube.com/channel/UCY3HPoPv-t_1HiRurWfgUOA])''
[{TableOfContents}]
!! Description
[{Image src='attach/KRZ01/krz01-top-thumb.jpg' link='attach/KRZ01/krz01-top.jpg' caption='top view showing breakout board and motor controller' align='right' class='imgFloatRight'}]
The KRZ01 (''__K__iwi __R__obot for the Raspberry Pi __Z__ero Model __1__'') uses a __Raspberry Pi Zero W__ (with Wifi) as its computer and a __PiconZero__ as its robot controller. Considering that the microcontroller and robot controller for the larger [KC01] together costs about NZ$82, this robot (at about NZ$52) has about a $30 price advantage, ''and it has wifi''.
It has a [Raspberry Pi] rather than the KC01's [Circuit Playground Express] — so it runs on Linux, whereas the KC01 runs a single Python program.
RobotShop sell a [MiniQ Motor Wheel Set w/ Encoder|https://www.robotshop.com/en/miniq-motor-wheel-set-encoder.html|https://www.robotshop.com/en/miniq-motor-wheel-set-encoder.html] that includes two motors, wheels and an encoder pair — with the encoders already mounted — for US$36. They use the 50:1 ratio rather than 298:1. The as-built prototype uses the 298:1 motors.
!! Requirements
TBD
!! Photos
| [{Image src='attach/KRZ01/krz01-side-thumb.jpg' link='attach/KRZ01/krz01-side.jpg' caption='side view (click to enlarge)' align='left' class='imgFloatLeft'}] | [{Image src='attach/KRZ01/krz01-front-thumb.jpg' link='attach/KRZ01/krz01-front.jpg' caption='front view (click to enlarge)' align='right' class='imgFloatRight'}]
| [{Image src='attach/KRZ01/krz01-bottom-thumb.jpg' link='attach/KRZ01/krz01-bottom.jpg' caption='bottom view (click to enlarge)' align='left' class='imgFloatLeft'}] | [{Image src='attach/KRZ01/krz01-iso2-thumb.jpg' link='attach/KRZ01/krz01-iso2.jpg' caption='iso view (click to enlarge)' align='right' class='imgFloatRight'}]
!! Features
The [Raspberry Pi Zero W|https://shop.pimoroni.com/products/raspberry-pi-zero-w] has all the features of the Zero plus Wifi and Bluetooth:
* BCM 2835 SOC @ 1GHz
* 1GHz
* 512MB of RAM
* On-board Wireless LAN - 2.4 GHz 802.11 b/g/n (BCM43438)
* On-board Bluetooth 4.1 + HS Low-energy (BLE) (BCM43438)
* micro-SD
* mini-HDMI
* micro-B USB for data
* micro-B USB for power
* CSI camera connector (needs adaptor cable)
* Unpopulated 40-pin GPIO connector (__requires soldering__)
* Compatible with existing [pHAT/HAT add-ons|https://shop.pimoroni.com/search?q=&hPP=30&idx=shop.pimoroni.com.products&p=0&hFR%5Btags%5D%5B0%5D=Pi%20HATs%20%26%20Plates&hFR%5Bvendor%5D%5B0%5D=Pimoroni&type=product&is_v=1]
* Dimensions: 65mm x 30mm x 5mm
[{Image src='attach/KRZ01/krz01-templates-thumb.jpg' link='attach/KRZ01/krz01-templates.jpg' caption='plastic templates (click to enlarge)' align='right' class='imgFloatRight'}]
The __[PiconZero|https://shop.pimoroni.com/products/picon-zero-intelligent-robotics-controller-for-raspberry-pi]__ board has the following features:
* I2C interface, leaving all GPIO pins free for your own use*
* 2 full H-Bridge motor drivers with full forward/reverse and speed control. Up to 1.5A continuous per channel (2A peak)
* 6 general purpose output channels (5V) that can be set as: Digital, PWM, Servo, WS2812( aka "Smart RGB" LEDs)
* 4 general purpose inputs (5V) that can be Digital, Analog, DS18B20 (digital temperature sensor)
* All inputs and outputs use 3-pin GVS connectors (Ground, Volts, Signal) - allowing 3-pin sensors, servos, etc. to plug straight in
* Dedicated socket for HC-SR04 ultrasonic sensor. Plug it straight in, or use jumper wires to mount it further away
* 5 GPIO signals, 5V, 3V and Ground brought out to a header
* Power for outputs can be from Raspberry Pi's 5V or from an external USB input line
* Power for motors can be from internal/external 5V, or from a separate power source (3V to 11V)
* Both motor terminals have 2-pin screw connectors AND 2-pin male headers to allow maximum flexibility in connecting
* Python library module making it super-easy to use any of the features
The controller board is supplied fully assembled. No soldering is required.
!! Bill of Materials
|| Count || Item || Each || Total Price* || Vendor
| 1x | [Raspberry Pi Zero W w/headers|https://www.adafruit.com/product/3708] | US$14 | NZ$21 | AdaFruit
| 1x | [Picon Zero|https://shop.pimoroni.com/products/picon-zero-intelligent-robotics-controller-for-raspberry-pi] | £15.90 | NZ$31 | Pimoroni
| 2x | [Micro Gear Motor (Extended back shaft) - 298:1|https://shop.pimoroni.com/products/micro-metal-gearmotor-extended-back-shaft?variant=3073681089] | £5.10 | nz | Pimoroni |
| 1x | [Magnetic Encoder Pair Kit|https://shop.pimoroni.com/products/magnetic-encoder-pair-kit-for-micro-metal-gearmotors-12-cpr-2-7-18v-hpcb-compatible] | £9 | nz | Pimoroni |
| 1x | [Micro Metal Gearmotor Bracket (Pair)|https://shop.pimoroni.com/products/pimoroni-gearmotor-bracket-pair] | £3.90 | nz | Pimoroni |
| 1x | [Moon Buggy Wheels - Pair|https://shop.pimoroni.com/products/moon-buggy-wheels-pair] | £4.50 | nz | Pimoroni |
| 1x | [Mini Black HAT Hack3r – PCB only|https://shop.pimoroni.com/products/mini-black-hat-hack3r?variant=19448026119] | £4.50 | nz | Pimoroni |
| 2x | [Male 40-pin 2x20 HAT Header|https://shop.pimoroni.com/products/male-40-pin-2x20-hat-header?variant=10476117383] | £1 | nz | Pimoroni |
| 1x | [2x20 pin Female GPIO Header for Raspberry Pi - 11mm|https://shop.pimoroni.com/products/2x20-pin-gpio-header-for-raspberry-pi-2-b-a?variant=1132812269] | £2.10 | nz | Pimoroni |
| 1x | [Breakout Garden Mini (I2C)|https://shop.pimoroni.com/products/breakout-garden-mini-i2c] | £9.60 | nz | Pimoroni |
| 3x | [Sharp GP2Y0D810Z0F Digital Distance Sensor 2-10cm|https://www.adafruit.com/product/1927] | $7.95 | nz | Adafruit |
| 1x | i | e | nz | v |
|| Total | | || NZ$52 |
%%small
''* total price shown is total in New Zealand dollars for row''
%%
!! Options
If you only want motor control, there's a cut-rate version of the Picon Zero people
called the [PicoCon|https://shop.4tronix.co.uk/products/4tronix-picocon-motor-robot-controller-for-raspberry-pi-kit] which sells for £5.
!! Upgrades
!! Notes, Known Questions and/or Issues
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[{Tag Robot RobotPrototype}]