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Pololu-Zumo-Shield-Arduino-bibliotheque-Zumo (voir la source)
Version du 11 avril 2017 à 20:09
, 11 avril 2017 à 20:09→Introduction
Our Zumo Shield Libraries make it easy to get started writing Arduino sketches to control your Zumo. A link to download the library and installation instructions can be found on the [https://github.com/pololu/zumo-shield libraries’ github page].
Our Zumo Shield Libraries make it easy to get started writing Arduino sketches to control your Zumo. A link to download the library and installation instructions can be found on the [https://github.com/pololu/zumo-shield libraries’ github page].
Once installed, we recommend you try out the example sketches for each library, which can be found under '''File > Examples > (name of the library)''', to get a better understanding of how to use the library functions. You can also find some more complex examples, not specific to any particular library, under '''File > Examples > ZumoExamples'''; Section 7 describes these examples in detail.
Once installed, we recommend you try out the example sketches for each library, which can be found under '''File > Examples > (name of the library)''', to get a better understanding of how to use the library functions. You can also find some more complex examples, not specific to any particular library, under '''File > Examples > ZumoExamples'''; [[Pololu-Zumo-Shield-Arduino-projet-d-exemple|Section 7]] describes these examples in detail.
The Zumo Shield Libraries include the following:
The Zumo Shield Libraries include the following:
* ZumoMotors
* ZumoBuzzer
* PushButton
* ZumoReflectanceSensorArray
* QTRSensors
== ZumoMotors ==
The ZumoMotors library provides functions for PWM-based speed (and direction) control of the two motors on the Zumo with the onboard DRV8835 dual motor driver. On Arduinos with ATmega328P, ATmega168, and ATmega32U4 microcontrollers (which include the A-Star 32U4 Prime, Arduino Leonardo, Arduino Uno, and most older Arduinos), the motor control functions use hardware PWM outputs from Timer1 to generate pulse width modulation at a 20 kHz frequency. (See Section 3 for more details about the motor driver and its connections.)
If you accidentally soldered a motor to the Zumo Shield backwards (opposite the orientation indicated in the assembly instructions), you can simply call flipLeftMotor(true) and/or flipRightMotor(true) to make the motors behave consistently with the directions in your code.
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