The KRZ01 at home on the lounge carpet

The KRZ01 robot is a robot prototype in the mini weight class.

Description#

top view showing breakout board and motor controller

The KRZ01 (Kiwi Robot for the Raspberry Pi Zero 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 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#

side view (click to enlarge)
front view (click to enlarge)
bottom view (click to enlarge)
iso view (click to enlarge)

Features#

The 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
  • Dimensions: 65mm x 30mm x 5mm

plastic templates (click to enlarge)

The PiconZero 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 US$14 NZ$21 AdaFruit
1x Picon Zero £15.90 NZ$31 Pimoroni
2x Micro Gear Motor (Extended back shaft) - 298:1 £5.10 nz Pimoroni
1x Magnetic Encoder Pair Kit £9 nz Pimoroni
1x Micro Metal Gearmotor Bracket (Pair) £3.90 nz Pimoroni
1x Moon Buggy Wheels - Pair £4.50 nz Pimoroni
1x Mini Black HAT Hack3r – PCB only £4.50 nz Pimoroni
2x Male 40-pin 2x20 HAT Header £1 nz Pimoroni
1x 2x20 pin Female GPIO Header for Raspberry Pi - 11mm £2.10 nz Pimoroni
1x Breakout Garden Mini (I2C) £9.60 nz Pimoroni
3x Sharp GP2Y0D810Z0F Digital Distance Sensor 2-10cm $7.95 nz Adafruit
1x i e nz v
Total NZ$52
* 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 which sells for £5.

Upgrades#

Notes, Known Questions and/or Issues#