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The KRZ01 robot is a robot prototype in the mini weight class.
(You can also see the NZPRG blog entry on the KRZ01
and a motor test video on the NZPRG YouTube Channel)
Description#
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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#
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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
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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 |
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#