Modifications

== Utiliser les senseurs ==

== Utiliser les senseurs ==

Level shifters built into the shield allow the inertial sensors, which operate at 3.3 V, to be connected to the 5 V logic level pins of the Arduino. The sensors, level shifters, and I²C pull-up resistors are connected to the SCL and SDA pins on the Zumo Shield by default, but they can be disconnected by cutting traces to allow those pins to be used for other purposes. It is necessary to make some additional connections on the shield if you want to use the compass with an older Arduino without separate SCL and SDA pins; please see Section 3.c for more details about the compass connections.

Level shifters built into the shield allow the inertial sensors, which operate at 3.3 V, to be connected to the 5 V logic level pins of the Arduino. The sensors, level shifters, and I²C pull-up resistors are connected to the SCL and SDA pins on the Zumo Shield by default, but they can be disconnected by cutting traces to allow those pins to be used for other purposes. It is necessary to make some additional connections on the shield if you want to use the compass with an older Arduino without separate SCL and SDA pins; please see [[Pololu-Zumo-Shield-Arduino-configuration-cavalier|Section 3.c]] for more details about the compass connections.

We have written a basic LSM303 Arduino library and L3G Arduino library that makes it easier to interface the sensors with an Arduino, as well as an example project that demonstrates how to use the magnetometer to help the Zumo coordinate its turns.

We have written a basic [https://github.com/pololu/lsm303-arduino LSM303 Arduino library] and [https://github.com/pololu/l3g-arduino L3G Arduino library] that makes it easier to interface the sensors with an Arduino, as well as an example project that demonstrates how to use the magnetometer to help the Zumo coordinate its turns.

In addition, the combination of accelerometer, magnetometer, and gyro on the v1.2 version of the Zumo Shield is enough to implement an inertial measurement unit (IMU); the sensor ICs are the same as those on our MinIMU-9 v3, so Arduino software written for the MinIMU-9 (such as our AHRS example) can also be adapted to work on an Arduino-controlled Zumo robot with a v1.2 shield.

In addition, the combination of accelerometer, magnetometer, and gyro on the v1.2 version of the Zumo Shield is enough to implement an inertial measurement unit (IMU); the sensor ICs are the same as those on our MinIMU-9 v3, so Arduino software written for the MinIMU-9 (such as our AHRS example) can also be adapted to work on an Arduino-controlled Zumo robot with a v1.2 shield.