What follows are notes from the build of the __[KRZ03]__, a Mecanum-wheeled robot. 

It uses parts from the [KRZ01] and [KRZ02] robots and therefore supercedes (replaces) them. The most recent version is using a Raspberry Pi Zero 2 W, a Pimoroni Motor 2040 and TinyFX (for LEDs and sound effects).

[{Image src='attach/KRZ03/krz03-deck.jpg' width='1000' caption='The KRZ03 robot' align='center'}]

This photo shows an earlier version using a pair of PiconZero motor controllers that were used on the KRZ02, connected with a Mini Black Hat Hack3r. After contacting 4Tronix, they sent a customised Picon Zero that uses a different I2C address so that it's possible to use two on this robot without bus contention. A simpler alternative would have been to use the PiBorg [ZeroBorg Motor Controller|https://www.piborg.org/motor-control-1135/zeroborg], which has four motor controllers as well as a 1.5A regulated power supply.

[{Image src='attach/KRZ03/krz03.jpg' width='1000' caption='Earlier version of the KRZ03 robot' align='center'}]

[{Image src='attach/GPIO/raspberry-pi-pinout.png' width='600' link='https://pinout.xyz/#' caption='The Raspberry Pi GPIO Pinout (courtesy pinout.xyz)' align='center'}]
 
!! Hardware

The specific features of the KRZ03 robot's hardware include:

* Raspberry Pi Zero 2 W as main controller
* Pimoroni Motor 2040 as the motor controller
* 4x Pololu N20 250:1 Micro Metal Gearmotors (HPCB 6V #5197) with built-in encoders
* 4x JST SH 6 pin cables to connect the motors to the controllers ("reversed" or "opposite")
* Pimoroni Breakout Garden for Raspberry Pi, 6 slots
* Pimoroni Tiny FX W for control of audio and LED lights
* PIR Stick for Tiny FX
* Pimoroni Adhesive Backed Mini Speaker 8Ω (1W)
* subminiature SPDT toggle switch to switch between an external supply and the battery
* toggle switch and a pushbutton connected to GPIO pins as input devices
* chassis made from 3mm and 5mm black Delrin plastic, using LynxMotion M3 spacers
* set of four Nexus Robot 48mm Steel Mecanum Wheels
* Pololu 5V, 5.5A Step-Down Voltage Regulator D36V50F5
* Makita 12V 2Ah power tool battery
* Makita YL00000003 12V max CXT Power Source (a power clip compatible with the battery)
* 19V laptop power supply as an external power supply

Sensors include:

* 3x Pololu Distance Sensors with Pulse Width Output, 50cm Max (#4064)
* PAA5100JE Near Optical Flow SPI Breakout
* ICM20948 9DoF Motion Sensor Breakout mounted on a 6x10x140mm Delrin mast
* VL53L5CX 8x8 Time of Flight (ToF) Array Sensor Breakout
* VL53L1X Time of Flight (ToF) Sensor Breakout
* pair of 5x5 RGB Matrix Breakouts
* 11x7 LED Matrix Breakout
* ADS1015 used for monitoring the battery and regulators
* Adafruit CH334F Mini 4-Port USB Hub Breakout

The above summary may also be found on the GitHub page for the project.


!! Software

The KRZOS operating system may be found on its GitHub repository at: [https://github.com/ifurusato/krzos]

----

[{Tag Robot RobotPrototype KRZ03}]