%%alias
aliased from [Zumo]
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[{Image src='attach/ArduinoY%C3%BAnInterfacing/Pololu-Zumo-0J6588.1200.jpg' link='attach/ArduinoY%C3%BAnInterfacing/Pololu-Zumo-0J6588.1200.jpg' width='300' caption='The Pololu Zumo for Arduino (click to view)' align='right' class='imgFloatRight'}]

__Zumo__ is the tradename for the Pololu [mini-Sumo robot|RobotSumo]. A Mini-Sumo robot must be less than 10cm square and weigh less than 500 grams. Any height is permitted.

Pololu provide two main types of Zumo: one functioning as a "shield" for an [Arduino] microcontroller board, the second, a newer version with an integrated Arduino-compatible controller, which also includes encoders and a few other nice features.


!! 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. 

%%information
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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!! References

* [Say Hello To My Little Friend – Zumo Part I|https://solderspot.wordpress.com/2014/02/03/say-hello-to-my-little-friend/], first in a series of blog posts describing a Zumo build (also had a post on his experience building a [PID controller|https://solderspot.wordpress.com/2014/01/29/pid-controllers-101/]
* [Zumo Robot with Magnetic Encoders|https://mcuoneclipse.com/2016/03/25/zumo-robot-with-magnetic-encoders/], description of a custom board developed at Lucerne University using Hall Effect encoders on a Zumo chassis; see also: [Adding Quadrature Encoder to the Zumo Chassis|https://mcuoneclipse.com/2013/06/15/adding-quadrature-encoder-to-the-zumo-chassis/], the earlier optical encoder version
* [SC 2015 Semilab: Robotics with LEGO NXT|https://sigmacamp.org/2015/semilabs/robotics], using a Zumo in competition

!! Has Tag Of ''Zumo'' 

[{HasTagOf Zumo}]

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[{Tag Zumo RobotSumo}]