• Pin A0 (18) is connected to line sensor 1 (DN1),
• Pin A3 (21) is connected to line sensor 3 (DN3).
• Pin 12 is connected to line sensor 5 (DN5).
• Pin A4 (22) is connected to the front proximity sensor.
• Pin A2 (20) is connected to either the left proximity sensor (LFT) or line sensor 2 (DN2),
depending on
the position of a jumper
.
• Pin 4 is connected to either the right proximity sensor (RGT) or line sensor 4 (DN4),
depending on the
position of a jumper
.
• Pin 11 is connected to the line sensor emitter control pin (LEDON).
The assembled versions of the Zumo 32U4 robot ship with jumpers selecting the left (LFT)
and right (RGT) proximity sensors instead of down-facing DN2 and DN4, so these versions are
configured for three down-facing sensors and all three proximity sensors by default.
The signals from the sensors can be remapped by soldering in a wire from the signal output to the desired I/O
pin. You would also want to disconnect the sensor output from the standard I/O pin so that pin can be used for
other purposes. For line sensor 1, line sensor 3, line sensor 5, and the front proximity sensor, disconnecting the
sensor involves cutting a trace between the signal output and the standard I/O pin, which is labeled on the board.
For the line sensor 2, line sensor 4, the left proximity sensor, and the right proximity sensor, you can simply
move or remove the corresponding jumper.
Example remapping: using all the sensors
If you want to use all five line sensors and all three proximity sensors in one application, you can accomplish
that by freeing up two I/O lines and remapping two of the pins. One way to accomplish this is by removing the
Zumo’s LCD to free up pins 0 and 1. Next, configure the jumpers on the front sensor array to connect pin 4
to line sensor 4, and pin 20 to line sensor 2. Solder a wire from the right proximity sensor signal to pin 0, and
solder a wire from the left proximity sensor to pin 1. You will need to modify your code to include the new pin
assignments, and you should remove all LCD-related code.
3.6. Proximity sensing
The Zumo 32U4 can detect nearby objects using the three proximity sensors on the front sensor array. The
proximity sensors do not emit their own light; instead they are designed to detect 38 kHz infrared (IR) signals
from emitters on the Zumo 32U4 Main Board.
The main board has four IR emitters:
• The middle-left and middle-right IR LEDs are surface-mounted on either side of the Zumo, inside the
tracks and between the wheels. They emit light to the left and to the right.
• The front-left and front-right IR LEDs are meant to face towards the front, though you can play with the
exact angle to see if it yields better results for your particular application. These LEDs are included, but
they must be installed by the user, as described in
Section 4
.
Pololu Zumo 32U4 Robot User’s Guide
© 2001–2015 Pololu Corporation
3. The Zumo 32U4 in detail
Page 18 of 76