Mini Bots - Zumo Bot

[RajGandhi]

To do: archive some of the code here.

Add to do list for improvements / add-ons. (with priority)

• (done) Vbat montior (use on-board A1; change v_divider from 2/3 to 1/2)
• (done) Implement buzzer
• (2) Add temp sensor using PWM headers
• (1) Add dual laser holders, motor driver, DIO
• (done) remove some stuff; arduino power port, some header pins, change arduino to stacking header pins
• (a) Add code for gyro
• (done) Add SD card (CAN shield)
• (4) Add Wifi shield

[RajGandhi]

Buzzer works. It only required a jumper to be soldered.

Try Eval_Zumo_Speaker.ino example.

[RajGandhi]

(Update, it works now. Hardware cut and jump required.) SD card (CAN shield) doesn't work on the Zumobot. There's a conflict with DIO pin 8 "CS" on the SD card (CAN shield) and the Zumobot. Zumobot uses DIO pin 8 for motor control. See ref docs: https://www.pololu.com/docs/pdf/0J57/zumo_shield_for_arduino.pdf Zumomotors.cpp and Zumomotors.h

The example Eval_Zumo_SD_Cardinfo.ino works when disconnected from Zumo (only Arduino and CAN shield connected).

CAN shield (SD Card) schematic. http://cdn.sparkfun.com/datasheets/Dev/Arduino/Shields/SparkFun_CAN-Bus_Shield_v13a.pdf CAN product link https://www.sparkfun.com/products/13262. Link has other resources including schematic, datasheets, hookup guide, github links for software library.

[RajGandhi]

Not many IO lines are available after Zumo. DIO6, DIO11 are available. Maybe DIO2. Probably DIO 0 and 1 are available.

Now using DIO6 for SD Card. Now using DIO11 for laser pointer.

A0, A2 and A3 are available.

[RajGandhi]

Vbat monitor is challenging because it can't be tested while plugged-in to a USB port. Try this:

• implement a single beep (done)
• implement a single beep from push button (done)
• implement beep from pushbutton that corresponds to battery voltage. (done)

[RajGandhi]

Try to make a better and battery saving laser driver using a DRV8838 dc motor driver.

The DRV8838 likes a PWM input. Look at Arduino spec to determine which pins have hardware PWM output. Pin D11 probably doesn't. :/ Look at Arduino specs to see if it is same "PWM". If so, it would be nice and possibly reduce sw overhead.

Hardware PWM is available on pin 11.

Connections (DRV8838 breakout || Zumo shield) GND || GND VCC || Arduino +5V regulated Enable || DIO11 Phase || GND (possibly put a switch or jumper; it determines output polarity) Sleep || open Vin || Vbat Out2 || LED - Out1 || LED + Vmm || open

[RajGandhi]

Laser Software.

1. Try to output 10% duty cycle constant. Check polarity and voltage. Voltage will probably be high no-load.

Works. Default is dim. Level-change is tied to button press. There's an interaction the tones emitted for battery voltage. It works but not quite as expected.

To do: move input for Laser level change to a different DIO and control it remotely (transceiver).