Modifications

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This example program demonstrates using the magnetometer in the Zumo Shield’s LSM303 3-axis compass module (described in section Section 3.d) to help the Zumo coordinate ninety-degree turns and drive in squares. With the Zumo Shield Arduino Libraries installed, the sketch file can be opened in Arduino by selecting '''Fichier > Exemples > ZumoExamples > Compass'''. This example also requires the [https://github.com/pololu/lsm303-arduino bibliothèque LSM303] to be installed.

This example program demonstrates using the magnetometer in the Zumo Shield’s LSM303 3-axis compass module (described in section [[Pololu-Zumo-Shield-Arduino-seneur-inertiel|Section 3.d]]) to help the Zumo coordinate ninety-degree turns and drive in squares. With the Zumo Shield Arduino Libraries installed, the sketch file can be opened in Arduino by selecting '''Fichier > Exemples > ZumoExamples > Compass'''. This example also requires the [https://github.com/pololu/lsm303-arduino bibliothèque LSM303] to be installed.

Because the batteries, motors, and motor current affect the z axis of the magnetometer much more strongly than the x and y axes, this program calculates the Zumo’s orientation using only the x and y readings from the magnetometer, assuming that the robot is always level. In order to prevent external, locally varying magnetic fields (e.g. from rebar in a concrete floor) from affecting the Zumo’s navigation too much, the program measures the magnetic heading before each turn, then turns ninety degrees relative to that heading.

Because the batteries, motors, and motor current affect the z axis of the magnetometer much more strongly than the x and y axes, this program calculates the Zumo’s orientation using only the x and y readings from the magnetometer, assuming that the robot is always level. In order to prevent external, locally varying magnetic fields (e.g. from rebar in a concrete floor) from affecting the Zumo’s navigation too much, the program measures the magnetic heading before each turn, then turns ninety degrees relative to that heading.

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