shurik179 / yozh

Small robot based on Pololu's Zumo chassis but programmable in CircuitPython

Yozh Robot

Yozh is a small robot based on Pololu's Zumo chassis but programmable in CircuitPython. It was created by shurik179 for a robotics class at SigmaCamp. Detailed documentation is available at http://yozh.rtfd.io.

At the moment, it is a work in progress and not ready for public consumption yet

Project overview

The robot consists of the following components:

• Zumo chassis by Pololu
• Two micro metal gearmotors by Pololu (6V, HP, 75 gear ratio)
• Custom electronics board, containing a slave MCU (SAMD21) preprogrammed with firmware, which takes care of all low-level operations such as counting encoder pulses
• Additional boards: reflectance sensor array (for line following), front distance sensors, top cover with 64*128 OLED display and user buttons
• ItsyBitsy RP2040 by Adafruit, which serves as robot brain. It is plugged into headers on the main board and programmed by the user in CircuitPython, using a provided CircuitPython library to communicate with the slave MCU over I2C.

Structure of this repository

• docs: documentation
• hardware: design files for the custom electronics boards, BOM, etc.
• firmware: bootloader and firmware files
• python_library: Circuit Python user library