Zumo Automation Project

• The goal of this project is to

  1. Allow two ZUMO32U4 robots to play a mini sumo match
  2. Have the robots know who won
  3. Enable the robots to wirelessly communicate match data to a master laptop
  4. Allow the robots to charge themselves wirelessly
  5. Allow the robots to reset for a new match automatically
  6. Create a machine learning exercise whereby the robots can learn the best strategy by playing each other
  7. Provide Brandeis students with an introduction to programming

• Getting started

  • Link to install all software
  • And see example files in examples folder

• Background information

  • Rules of mini sumo

• Hardware + Current robot used

  • previous, ZUMO32U4
  • 3d printed robot model which we want to switch to

• This project was conceived of by technical advisor Tim Hebert and is currently being implemented by the Brandeis Robotics Club

• We are always looking for anyone who wants to contribute, email us!

  • jsmith2021@brandeis.edu
  • The Brandeis University Makerlab

Example

​ Here is an example of a sumo match that is possible with this project, the example here is Zumo_Match_Distance:

​

Pololu Wrapper Libraries

• These libraries provide added functionality to Pololu's Zumo Shield Library
• They take a sensor or motor and make it more user friendly and add calibration

Accel Library, Interfaces with Robot's accelerometer

• includes calibration function initializeCompass(), which makes sure accelerometer at rest reads no acceleration on x and y axes
• The getter functions allow the robot's acceleration to be returned in centimeters per second squared accel.getX()
• The class can also return whether it has been collided with from rest collided() See Was_Bumped
• The class can print its acceleration to the serial monitor printAccels() See Print_Accelerations

DriveShield Library, Interfaces with Robot's motors

• Includes functions like DriveForward, DriveBackward, etc whic hlet the robot drive around.
  • The simplest version driveForward(500) would tell the robot to drive forward, wait half a second, and stop See Example
  • The more advanced version with no time parameter driveForward() just sets the robot to drive forward and gives more user control.
• The get and setPower method allow the robot to change its speed, so it can speed up or slow down wihtout hardcoding speed, like this setPower(getPower()/2) which halves the robot's power. See Random Power

Music Player Library, Interfaces with robot's buzzer

• Includes functions to play a song and individual notes with the buzzer
  • See Example , which uses play() to play a song and play (NOTE_E(4)) to play an individual note

Zumo Game Libraries

• These libraries build on the more low level programs to allow the robots to play a zumo match

LineCalibrator Library, Determines Thresholds Between Regions of a Zumo Ring

• includes function to prompt a user to move the robot over the regions to be detected calibrateLineSensors() See calibrate
• to get the result, use getThresholds() which returns a list of the numerical boundaries between regions
• to get the list of regions (which could be in different order than you gave) use getRegions()

LineGlobal Library, Allows Robot to be able to tell apart the regions of any zumo field

• To use, you need the setElements(String* regions, int numRegions, String regionsSeen[],bool USB)
• To see what region the robot is over, use getRegion() See Calibrate
• To display individual sensor values, use displayLineReadings()

LineShield Library

• They are used to return whether the robot is on a line of tape and to print line sensor readings to the robot's display
• The boolean methods of the class are isInRing, isOnEdge, isOutBounds
• The getRegion method returns where the robot is in the ring
• The printAllSensors method displays the 3 used line sensor values on the robot's lcd
• An example file is provided
  • It uses this library and the Drive library to keep the robot in a ring of tape
  • The complex navigation program uses an extra line of tape on the outside of the ring to allow the robot to know when it lost a match

Sorter Library

• This Library sorts a given array, which is useful in calibrating the line sensors
• An example file is provided
  • It sorts 3 example arrays in a similar format to how theyd be used in a line sensor application

Timer Library

• This library is a wrapper class for the Arduino time function
• This library allows for the instantiation of a timer object which can return the current time, be reset, and be used on an interval
• This allows an arduino board to continually perform an update procedure without the use of delay statements
• The provided example file shows the suggested use of this class on a ZUMO32U4 robot using the [Arduino Integrated Development Enviornment](

Non Class Example Files

• These example files aren't based on any one class but still represent useful endeavors of the robotics club

Robotics Club, programs written by robotics club members that aren't in classes

• As an introduction, the students started out with sample zumo behaviors See RoboticsClub_First_Meeting
• Over a few weeks, students worked on this program to allow the robot to determine its speedSee Calibrate

Wireless, programs written to allow the robot to drive wirelessly (provided code except remote control)

• Provideed Program allows robot to message eachother NRF24 Wireless_HowToMechatronicsRecieve and Wireless_HowToMexhantroincsTransmit
• Provided Program allows robot to cmmunicate with eachother over bluetooth Wireless_wifittest3w
• This Program allows the robot to be controlled by a computer over bluetooth Wireless_RemoteControl

Zumo, programs written to allow the robot to navigate and play a Zumo Match

• This Program uses a timer to tell if the robot has driven to the other side of the ring CollisionTimer
• This Program finds the other robot in a ring for reset purposes by waiting on the edge of the ring FindPartnerPassive
• This Program finds the other robot in a ring for reset purposes by driving into the other robot FindPartnerActive
• This Program lets the robot drive around the edge of a zumo ringLine_Follower
• This program lets the robot know how to tell the difference between what region it is on MatchCalibrate
• This Program incorporates a button to simulate how a wireless network would work in a zumo match MatchFull
• This program allows the robot toplay a simple zumo match MatchSimple

Zumo32U4, programs written for the Zumo32U4 robot, deprecated

• This Program simulates a zumo matfch, including knowing who lost Complex_Line_Avoider
• This Program allows a robot to stay inside a zumo ring Simple_Line_Avoider
• This program allows the robot to stay inside a zumo ring Simple_Line_Detector

-The Brandeis University Robotics Club

Test from Tim