Tag Archives: zumo
Wallie The NavBot
Using the Zumo bot for dead reckoning was proving difficult due to its tracks. Decided to see if the original WallBot with its smaller wheels could perform better at navigation.
Zumo: Systematic Errors Dead Ahead
During the development of the NavBot I was forced to deal with and understand the systematic errors (and non-systematic errors) of the Zumo chassis. Maybe I’m expecting too much from a tracked-based dead-reckoning bot.
Quick and Dirty Dead Reckoning
Put together a quick and dirty dead reckoning experiment now that the encoders and PID controller are working. Very happy with the results, even if they are superficial.
PID Tuning For Zumo
With the encoders working it’s time to tune the PID controller for driving in straight lines.
Building Zumo – Encoder Redux and Bluetooth
Discovered there was an alternate and simpler solution than using Trinket.
Also received a bluetooth module and put it to use.
Building Zumo – Part IV
Finally completed the Zumo build, code and all. It was way more work than I bargained for.
Ended up adding a second microprocessor (The Trinket) to handle sensor and servo functions, implemented an I2C slave and wrangled new interrupt-driven servo code.
Building Zumo – Part III
Completed the Zumo hardware side and got the encoders working but then hit a road block trying to get the motors to turn…
Building Zumo – Part II
Did a little more work on the sumo type bot.
Added a perfboard with a mounted servo for a sweeping collision sensor.
Say Hello To My Little Friend – Zumo Part I
Decided to build the Pololu Zumo chassis with their optical encoders.
Still need to figure out a circuit to convert the encoders’ analog signal to digital.
solderspot 