Modifications

== ZumoMotors ==

== 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.)

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 "Le Shield Zumo en détails" 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.

If you accidentally soldered a motor to the Zumo Shield backwards (opposite the orientation indicated in the [[|assembly instructions]), you can simply call {{fname|flipLeftMotor(true)}} and/or {{fname|flipRightMotor(true)}} to make the motors behave consistently with the directions in your code.

{{Pololu-Zumo-Shield-Arduino-TRAILER}}

{{Pololu-Zumo-Shield-Arduino-TRAILER}}