Pololu-Zumo-Shield-Arduino-seneur-inertiel

Introduction

The Zumo Shield includes on-board inertial sensors that can be used in advanced applications, such as helping your Zumo detect collisions and determine its own orientation.

All versions of the Zumo Shield have a compass module that combines a 3-axis accelerometer and 3-axis magnetometer into a single package with an I²C interface. This chip is an LSM303D lien pololu on the v1.2 shield or an LSM303DLHC lien pololu on the original Zumo Shield.

The v1.2 version of the Zumo Shield also adds an L3GD20H lien pololu 3-axis gyroscope on the same I²C bus.

We recommend carefully reading the Fiche technique LSM303D (1MB pdf, pololu), Fiche technique L3GD20H (3MB pdf, pololu), and/or fiche technique LSM303DLHC (629k pdf, pololu) to understand how these sensors work and how to use them.

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.

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.

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.

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Basé sur "Zumo Shield for Arduino" de Pololu (www.pololu.com/docs/0J57) - Traduit en Français par shop.mchobby.be CC-BY-SA pour la traduction
Toute copie doit contenir ce crédit, lien vers cette page et la section "crédit de traduction". Traduit avec l'autorisation expresse de Pololu (www.pololu.com)

Based on "Zumo Shield for Arduino" from Pololu (www.pololu.com/docs/0J57) - Translated to French by shop.mchobby.be CC-BY-SA for the translation
Copies must includes this credit, link to this page and the section "crédit de traduction" (translation credit). Translated with the Pololu's authorization (www.pololu.com)