Diagram of an RC receiver connected to pins on a Zumo Shield.
This program uses Arduino’s
[http://arduino.cc/en/Reference/PulseIn]
to read the signals
from the receiver. By default, it assumes the throttle and steering channels are connected as the
diagram shows on pins 4 and 5, respectively. The signals from the two channels are mixed to
determine the left and right motor speeds, allowing for more intuitive control.
7.b. Simple border-detecting sumo robot
Adding sensors to the Zumo allows it to sense and react to its surroundings. In a sumo competition
where two robots try to push each other out of a circular ring, it is important for a robot to be able to
detect the border of the ring so it can avoid driving over the edge. Since standard robot sumo rings
are colored black with a white border around the edge, infrared reflectance sensors like our
[https://www.pololu.com/category/123/pololu-qtr-reflectance-sensors]
are great for this purpose. The
[https://www.pololu.com/product/1419]
conveniently mounts six of these
sensors in a module designed to plug directly into the front expansion header of the Zumo Shield
(note: the
pre-assembled version of the Zumo robot
[https://www.pololu.com/product/2510]
ships with
this reflectance sensor array already installed).
Pololu Zumo Shield for Arduino User’s Guide
© 2001–2019 Pololu Corporation
7. Example sketches
Page 45 of 52
