Modifications

You might need to edit a few things in this sketch to make it work well with your Zumo:

You might need to edit a few things in this sketch to make it work well with your Zumo:

* If one or both of your motors have been connected backwards, uncomment lines 48 and/or 49 to correct their directions.

* If one or both of your motors have been connected backwards, uncomment lines 48 and/or 49 to correct their directions.

* Adjust the speeds and durations in lines 13-17. Generally, lower speeds and shorter durations should work better with faster motors, while higher speeds and longer durations should be more appropriate for slower motors. We found that these default values worked well with a Zumo using 75:1 HP motors.

* Adjust the speeds and durations in lines 13-17. Generally, lower speeds and shorter durations should work better with faster motors, while higher speeds and longer durations should be more appropriate for slower motors. We found that these default values worked well with a Zumo using 75:1 HP motors {{polpl|2361}}.

* Finally, the sensor reading threshold used to differentiate between black and white surfaces, defined on line 10, might need to be changed to suit your environment.

* Finally, the sensor reading threshold used to differentiate between black and white surfaces, defined on line 10, might need to be changed to suit your environment.

* If the Zumo overshoots the ring border, try lowering FORWARD_SPEED (especially if it is going very fast) or reducing QTR_THRESHOLD.

* If the Zumo overshoots the ring border, try lowering FORWARD_SPEED (especially if it is going very fast) or reducing QTR_THRESHOLD.

* If the Zumo stops at the border but turns too much or not enough before continuing, adjust TURN_SPEED and/or TURN_DURATION.

* If the Zumo stops at the border but turns too much or not enough before continuing, adjust TURN_SPEED and/or TURN_DURATION.

* If you do not hear any sound from the buzzer, make sure you have the buzzer control jumper configured correctly for your Arduino.

* If you do not hear any sound from the buzzer, make sure you have the [[Pololu-Zumo-Shield-Arduino-extension-avant|buzzer control jumper]] configured correctly for your Arduino.

The ability to wander around while staying inside a sumo ring is enough to allow a Zumo to compete as a basic sumo robot, but a more advanced robot might be able to detect its opponent and drive toward it directly. As a next step, you might consider adding more sensors, such as range finders <small>[https://www.pololu.com/category/79/sharp-distance-sensors lien pololu]</small> to allow the Zumo to find its opponent instead of relying on luck to make contact.

The ability to wander around while staying inside a sumo ring is enough to allow a Zumo to compete as a basic sumo robot, but a more advanced robot might be able to detect its opponent and drive toward it directly. As a next step, you might consider adding more sensors, such as range finders <small>[https://www.pololu.com/category/79/sharp-distance-sensors lien pololu]</small> to allow the Zumo to find its opponent instead of relying on luck to make contact.

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