Pololu Zumo 32U4 Quick start guide

Zumo 32U4 main board
©2015–2020 Pololu Corporation
www.pololu.com
Schematic diagram
Microcontroller and user interface
Page 1 of 5
PE6 (INT6/AIN0) 1
UVcc 2
D-
3
D+
4
UGnd
5
UCap 6
VBus
7
PB0 (SS/PCINT0)
8
PB1 (PCINT1/SCK)
9
PB2 (PDI/MOSI/PCINT2)
10
PB3 (PDO/MISO/PCINT3)
11
PB7 (OC0A/OC1C/PCINT7/RTS)
12
RESET
13
VCC 14
GND
15
XTAL2
16
XTAL1
17
PD0 (INT0/SCL/OC0B)
18
PD1 (INT1/SDA)
19
PD2 (INT2/RXD1)
20
PD3 (INT3/TXD1)
21
PD5 (XCK1/CTS)
22
GND
23
AVCC 24
PD4 (ICP1/ADC8)
25
PD6 (T1/OC4D/ADC9
26
PD7 (T0/OC4D/ADC10)
27
PB4 (PCINT4/ADC11)
28
PB5 (OC1A/OC4B/PCINT5/ADC12)
29
PB6 (OC1B/OC4B/PCINT6/ADC13)
30
PC6 (OC3A/OC4A) 31
PC7 (ICP3/CLK0/OC4A) 32
PE2 (HWB) 33
VCC 34
GND
35
PF7 (ADC7/TDI) 36
PF6 (ADC6/TDO) 37
PF5 (ADC5/TMS) 38
PF4 (ADC4/TCK) 39
PF1 (ADC1) 40
PF0 (ADC0) 41
AREF 42
GND
43
AVCC 44
PAD
45
ATmega32U4
VBUS 1
D- 2
D+ 3
ID 4
GND 5
NC
6NC 7NC 8NC 9NC
10 NC
11
USB Micro-B
1 uF
C2
5V
L1
10 uH
0.1 uF
C1
AVCC
5V AVCC
0.1 uF
C3
VBUS
22
R1
22
R2
nRESET
D14
D16
D15
PD5
D8
D9
D10
D11
D3
D2
D0
D1
D4
D12
D6
D7
D5
D13
A0
A1
AREF
PE2
A2
A3
A4
A5
D17
Y1 16 MHz
10 pF
C4
10 pF
C5
SW1
AVR3V3
(D18)
(D19)
(D20)
(D21)
(D22)
(D23)
VB
VBAT
VREG
VCC
STATSHDN
3V3
nRESET
PSW
5V 5V
AREF
A5
A0 A1
A2 A3
A4
PE2
IRL IRR
D0 D1
D2 D3
D4 D5
D6 D7
D8 D9
D10 D11
D12 D13
D14
D15 D16
D17 PD5
D11
1
2
4
3
5
6
7
8
9
10
11
12
1
2
4
3
5
6
7
8
9
10
11
12
D2
D3
5V 3V3
Front
Rear
IRL
IRR
5V
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
14
15
16
D0
D1
5V
3V3
VBAT
D2
D3
D0
D1
VBAT VBAT
A0
A0A2 A2
A3
A3
A4
A4
D4
D12
D4 D12
D6
D11
A1
A1 D5
Front expansion area
Top expansion area
Mid
Left Right
D1
Green
1.5k
R3
PD5
5V
D3
Yellow
1k
R7
D13
D2
Red
2.21k
R4
D17
5V
SW2 SW3
1kR5
3kR9 3kR10
1.5kR6
SW4
D14
1k
R8
buzzerD4
Q6
100kR23
5V
D6
Vss 1
VDD 2
Vo 3
RS 4
R/W 5
E6
DB0 7
DB1 8
DB2 9
DB3 10
DB4 11
DB5 12
DB6 13
DB7 14
LCD 5V
clockwise
R19
10k
D0
D1
D14
D17
D13
PD5
A
B C
R
PIBZ101
PIBZ102
COBZ1
PIC101
PIC102
COC1
PIC201
PIC202
COC2
PIC301 PIC302
COC3
PIC401
PIC402
COC4
PIC501
PIC502
COC5
PID101
PID102
COD1
PID201
PID202
COD2
PID301
PID302
COD3
PID401
PID402
COD4
PIJ201
PIJ202
PIJ203
PIJ204
PIJ205
PIJ206
PIJ207
PIJ208
PIJ209
PIJ2010
PIJ2011
COJ2
PIJ401 PIJ402
COJ4
PIJP101
PIJP102
PIJP103
PIJP104
PIJP105
PIJP106
PIJP107
PIJP108
PIJP109
PIJP1010
PIJP1011
PIJP1012
PIJP1013
COJP1
PIJP201
PIJP202
PIJP203
PIJP204
PIJP205
PIJP206
PIJP207
PIJP208
PIJP209
PIJP2010
PIJP2011
PIJP2012
PIJP2013
COJP2
PIJP301
PIJP302
PIJP303
PIJP304
PIJP305
PIJP306
PIJP307
PIJP308
PIJP309
PIJP3010
PIJP3011
PIJP3012
PIJP3013
COJP3
PIJP401
PIJP402
PIJP403
PIJP404
PIJP405
PIJP406
PIJP407
PIJP408
PIJP409
PIJP4010
PIJP4011
PIJP4012
PIJP4013
COJP4
PIJP501
PIJP502
PIJP503
PIJP504
PIJP505
PIJP506
PIJP507
PIJP508
PIJP509
PIJP5010
PIJP5011
PIJP5012
COJP5
PIJP601
PIJP602
PIJP603
PIJP604
PIJP605
PIJP606
PIJP607
PIJP608
PIJP609
PIJP6010
PIJP6011
PIJP6012
COJP6
PIJP701
PIJP702
PIJP703
PIJP704
PIJP705
PIJP706
PIJP707
PIJP708
PIJP709
PIJP7010
PIJP7011
PIJP7012
PIJP7013
PIJP7014
PIJP7015
PIJP7016
COJP7
PIL101 PIL102
COL1
PILCD01
PILCD02
PILCD03
PILCD04
PILCD05
PILCD06
PILCD07
PILCD08
PILCD09
PILCD010
PILCD011
PILCD012
PILCD013
PILCD014
COLCD
PIQ601
PIQ602
PIQ603
COQ6
PIR101 PIR102
COR1
PIR201 PIR202
COR2
PIR301
PIR302
COR3
PIR401
PIR402
COR4
PIR501 PIR502
COR5
PIR601 PIR602
COR6
PIR701
PIR702
COR7
PIR801
PIR802
COR8
PIR901 PIR902
COR9
PIR1001 PIR1002
COR10
PIR1901
PIR1902
PIR1903
COR19
PIR2301 PIR2302
COR23
PISW101 PISW102
COSW1
PISW201
PISW202
COSW2
PISW301
PISW302
COSW3
PISW401
PISW402
COSW4
PIU101
PIU102
PIU103
PIU104
PIU105
PIU106
PIU107
PIU108
PIU109
PIU1010
PIU1011
PIU1012
PIU1013
PIU1014
PIU1015
PIU1016
PIU1017
PIU1018
PIU1019
PIU1020
PIU1021
PIU1022
PIU1023
PIU1024
PIU1025
PIU1026
PIU1027
PIU1028
PIU1029
PIU1030
PIU1031
PIU1032
PIU1033
PIU1034
PIU1035
PIU1036
PIU1037
PIU1038
PIU1039
PIU1040
PIU1041
PIU1042
PIU1043
PIU1044
PIU1045
COU1
PIY101
PIY102
PIY103
PIY104
COY1

Zumo 32U4 main board
©2015–2020 Pololu Corporation
www.pololu.com
Schematic diagram
Motors, encoders, and IR emitters
Page 2 of 5
Right motor
Left motor
GND 3
VS 1
Q2
0.1 uF
C9
10k
R11
5V
GND 3
VS 1
Q2
10k
R12
5V
A5EAR
5V
GND 3
VS 1
Q2
0.1 uF
C11
10k
R13
5V
GND 3
VS 1
Q2
10k
R14
5V
PE2EAL
5V
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
ML+
ML-
MR+
MR-
3.3 nF
C6
3.3 nF
C10
D9
D15
D10
D16
5V
5V
0.1 uF
C7
GND
4
VM 1
VCC 8
PH
6
EN
5
nSLEEP 7
OUT1 2
OUT2 3
GND (PPAD)
9
DRV8838
5V
0.1 uF
C8
VBAT VBAT
5V
5V
EAR
A5
D7
5V
EAL
PE2
D8
②Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
① ①
A1 A1
D5
Q7
D8
IR
22
R39
1
2
NP
R43
1
2
IRL
1
2
Front left LED
Q8
D9
IR
22
R41
1
2
NP
R42
1
2
IRR
1
2
Front right LED
5V
100
R34
NP
R38
10 uF
C47
10 uF
C54
10 uF
C55 100
R35
NP
R40
D10
Red
1k
R36
D11
Red
1k
R37
D5
10 uF
C46
10 uF
C53
10 uF
C45
5V
10 uF
C44
10 uF
C51
10 uF
C52
10 uF
C43
10 uF
C50
10 uF
C42
IN2
②
5V
4
1
6
52
5V
IN14
3
6
52
③
100k
R44
D5
④Implemented as 74LVC1G97 multi-function gate with pin 1 tied to GND
③Implemented as 74LVC1G97 multi-function gate with pin 3 tied to GND
4.7 uF
100
OUT 1
GND 2
VS 3
5V
Left and right optional IR receiver connections
x2
IR emitters
Motors
①Hall Effect sensor ICs in SOT-23 packages, e.g. AH1751
④
Middle left LED Middle right LED
① ①
②
6 6
4 4
5 5
2 2
1 1
R
PIC601 PIC602
COC6
PIC701
PIC702
COC7
PIC801
PIC802
COC8
PIC901
PIC902
COC9
PIC1001 PIC1002
COC10
PIC1101
PIC1102
COC11
PIC4201
PIC4202
COC42
PIC4301
PIC4302
COC43
PIC4401
PIC4402
COC44
PIC4501
PIC4502
COC45
PIC4601
PIC4602
COC46
PIC4701
PIC4702
COC47
PIC4801 PIC4802
COC48
PIC5001
PIC5002
COC50
PIC5101
PIC5102
COC51
PIC5201
PIC5202
COC52
PIC5301
PIC5302
COC53
PIC5401
PIC5402
COC54
PIC5501
PIC5502
COC55
PID801
PID802
COD8
PID901
PID902
COD9
PID1001
PID1002
COD10
PID1101
PID1102
COD11
PIJ101 PIJ102
COJ1A
PIJ103 PIJ104
COJ1B
PIJP801
PIJP802
COJP8
PIJP901
PIJP902
COJP9
PIJP1001
PIJP1002
COJP10
PIJP1101
PIJP1102
COJP11
PIJP1201
PIJP1202
COJP12
PIJP1301
PIJP1302
COJP13
PIJP1401
COJP14
PIQ701
PIQ702
PIQ703
COQ7
PIQ801
PIQ802
PIQ803
COQ8
PIR1101
PIR1102
COR11
PIR1201
PIR1202
COR12
PIR1301
PIR1302
COR13
PIR1401
PIR1402
COR14
PIR3401
PIR3402
COR34
PIR3501
PIR3502
COR35
PIR3601
PIR3602
COR36
PIR3701
PIR3702
COR37
PIR3801
PIR3802
COR38
PIR3901
PIR3902
COR39
PIR4001
PIR4002
COR40
PIR4101
PIR4102
COR41
PIR4201
PIR4202
COR42
PIR4301
PIR4302
COR43
PIR4401
PIR4402
COR44
PIR4501
PIR4502
COR45
PIU201
PIU202
PIU203
PIU204
PIU205
PIU206
PIU207
PIU208
PIU209
COU2
PIU301
PIU302
PIU304
PIU305
PIU306
COU3A
PIU301
PIU302
PIU303
COU3
PIU402
PIU403
PIU404
PIU405
PIU406
COU4A
PIU401
PIU402
PIU403
COU4
PIU501
PIU502
PIU503
PIU504
PIU505
PIU506
PIU507
PIU508
PIU509
COU5
PIU601
PIU602
PIU603
COU6
PIU701
PIU702
PIU703
COU7
PIU1701
PIU1702
PIU1703
COU17
PIU?01
PIU?02
PIU?03
PIU?07
PIU?014
COU?
PIU?01
PIU?02
PIU?03
PIU?07
PIU?014

Zumo 32U4 main board
©2015–2020 Pololu Corporation
www.pololu.com
Schematic diagram
Inertial sensors
Page 3 of 5
10 uF
C34
0.1 uF
C36
10 uF
C33
3V3
5V
0.1 uF
C38
D3
D2
0.1 uF
C37
3V3
3V3
10 nF
C41
10k
R31
10k
R32
10k
R28
10k
R29
5V
Q4
Q5
3V3
SDALV
SCLLV
SA0
Vdd_IO 1
SETC
2
SETP
3
SCL/SPC 4
GND
5
SDA/SDI/SDO 6
SDO/SA0 7
CS 8
INT2 9
RES(GND)
10
INT1 11
GND
12
GND
13
Vdd 14
C1
15
GND
16
LSM303D
0.22 uF
C39
4.7 uF
C40
10k
R30
3V3
VDD_IO 1
SCL/SPC
2
SDA/SDI/SDO
3
SDO/SA0
4
CS
5
DRDY/INT2 6
INT1 7
DEN
8
RES(GND)
9
RES(GND)
10
RES(GND)
11
GND
12
GND
13
CAP 14
RES(VDD) 15
VDD 16
L3GD20H
10k
R33
CS
(SCL)
(SDA)
3k
R47
R
Main board v1.0 inertial sensors Main board v1.1 inertial sensors
3V3
3V3 10k
R30
10k
R31
10k
R32
10k
R33
3V3
SCLLV
VDD_IO
6
SCL/SPC 1
GND
3
SDA/SDI/SDO 11
SDO/SA1 9
CS 10
RES(GND)
2INT 7
RES(GND)
12
VDD
5
C1
4
DRDY 8
LIS3MDL
VDDIO 1
SCL/SPC
2
SDA/SDI/SDO
3
SDO/SA0
4
CS
5
INT2 6
INT1 7
RES(GND)
8
RES(GND)
9
RES(GND)
10
RES(GND)
11
GND
12
GND
13
NC 14
RES
15
VDD 16
LSM6DS33
SDALV
SA0
CS
0.1 uF
C40
3V3
SDALV
SCLLV
(LSM303D and L3GD20H on I²C bus) (LIS3MDL and LSM6DS33 on I²C bus)
PIC3301
PIC3302
COC33
PIC3401
PIC3402
COC34
PIC3601
PIC3602
COC36
PIC3701
PIC3702
COC37
PIC3801
PIC3802
COC38
PIC3901
PIC3902
COC39
PIC4001
PIC4002
COC40
PIC4001
PIC4002
PIC4101
PIC4102
COC41
PIJ501 PIJ502
COJ5
PIJ601 PIJ602
COJ6
PIQ401
PIQ402 PIQ403
COQ4
PIQ501
PIQ502 PIQ503
COQ5
PIR2801
PIR2802
COR28
PIR2901
PIR2902
COR29
PIR3001
PIR3002
COR30
PIR3001
PIR3002
PIR3101
PIR3102
COR31
PIR3101
PIR3102
PIR3201
PIR3202
COR32
PIR3201
PIR3202
PIR3301
PIR3302
COR33
PIR3301
PIR3302
PIR4701
PIR4702
COR47
PIU1101
PIU1102
PIU1103
PIU1104
PIU1105
PIU1106
PIU1107
PIU1108
PIU1109
PIU11010
PIU11011
PIU11012
COU11
PIU1101
PIU1102
PIU1103
PIU1104
PIU1105
PIU1106
PIU1107
PIU1108
PIU1109
PIU11010
PIU11011
PIU11012
PIU11013
PIU11014
PIU11015
PIU11016
PIU1201
PIU1202
PIU1203
PIU1204
PIU1205
PIU1206
PIU1207
PIU1208
PIU1209
PIU12010
PIU12011
PIU12012
PIU12013
PIU12014
PIU12015
PIU12016
COU12
PIU1201
PIU1202
PIU1203
PIU1204
PIU1205
PIU1206
PIU1207
PIU1208
PIU1209
PIU12010
PIU12011
PIU12012
PIU12013
PIU12014
PIU12015
PIU12016

Zumo 32U4 main board
©2015–2020 Pololu Corporation
www.pololu.com
Schematic diagram
Power
Page 4 of 5
L1
1L2 10
FB 8
VOUT 9 VIN
2
PAD 11
VAUX
6
EN
3
GND
7
PS/SYNC
4PG 5
TPS63061
0.1 uF
C31
10 uF
C21
10 uF
C23
10 uF
C22
VBAT VREG
L2
1.2 uH
REGEN
10 uF
C27
VBAT
Q2Q1
100k
R18
VB
Zumo chassis
0.1 uF
C25
REGEN
SHDN
220k
R27
VBAT
Q3
0.1 uF
C30
10 uF
C28
2
3
1
SW5
SMT
D6
Blue
VBAT
1k
R25
220 uF
C29
220 uF
C24
330 uF
C26
330 uF
C32
PSW
IN
1
ON/OFF
3OUT 5
NC 4
GND
2
3.3V LDO
5V
1 uF
C19
1 uF
C20
3V3
NP
R24
AVR3V3
5VVREG VBUS
0.1 uF
C14
0.1 uF
C17
STAT 1
EN
2
VSNS
3
ILIM 4
GND
5
IN2
6
OUT 7 IN1
8
PAD
9
TPS2113A
1 uF
C18
100k
R15
20k
R17
270
R16
STAT
0.1 uF
C16
10 uF
C12
10 uF
C15
10 uF
C13
D5
Green
VBUS
1k
R20
D7
Blue
VREG
1k
R26
20k
R22
VBAT
A1
20k
R21
R
PIC1201
PIC1202
COC12
PIC1301
PIC1302
COC13
PIC1401
PIC1402
COC14
PIC1501
PIC1502
COC15
PIC1601
PIC1602
COC16
PIC1701
PIC1702
COC17
PIC1801
PIC1802
COC18
PIC1901
PIC1902
COC19
PIC2001
PIC2002
COC20
PIC2101
PIC2102
COC21
PIC2201
PIC2202
COC22
PIC2301
PIC2302
COC23
PIC2401
PIC2402
COC24
PIC2501
PIC2502
COC25
PIC2601
PIC2602
COC26
PIC2701
PIC2702
COC27
PIC2801
PIC2802
COC28
PIC2901
PIC2902
COC29
PIC3001
PIC3002
COC30
PIC3101
PIC3102
COC31
PIC3201
PIC3202
COC32
PID501
PID502
COD5
PID601
PID602
COD6
PID701
PID702
COD7
PIJ105
PIJ106
COJ1C
PIJ301 PIJ302
COJ3
PIL201 PIL202
COL2
PIQ101PIQ102
PIQ103
PIQ104 PIQ105PIQ106
COQ1
PIQ201PIQ202
PIQ203
PIQ204 PIQ205PIQ206
COQ2
PIQ301
PIQ302
PIQ303
COQ3
PIR1501
PIR1502
COR15
PIR1601
PIR1602
COR16
PIR1701
PIR1702
COR17
PIR1801
PIR1802
COR18
PIR2001
PIR2002
COR20
PIR2101
PIR2102
COR21
PIR2201
PIR2202
COR22
PIR2401
PIR2402
COR24
PIR2501
PIR2502
COR25
PIR2601
PIR2602
COR26
PIR2701
PIR2702
COR27
PISW501
PISW502
PISW503
COSW5
PIU801
PIU802
PIU803
PIU804
PIU805
PIU806
PIU807 PIU808
PIU809
COU8
PIU901
PIU902
PIU903
PIU904
PIU905
PIU906
PIU907
PIU908
PIU909
PIU9010
PIU9011
COU9
PIU1001
PIU1002
PIU1003 PIU1004
PIU1005
COU10

Zumo 32U4 front sensor board
©2015–2020 Pololu Corporation
www.pololu.com
Schematic diagram
Page 5 of 5
150
R1
2.2 nF
C1
5V
220
R4
DOWN1
U5
Q1
5V
47k
R9
NP
R10
2.2 nF
C5
5V
220
R5
DOWN5
U1
100
R11
LEFT
5V
2.2 uF
C6
150
R2
2.2 nF
C2
5V
220
R6
DOWN2
U4
2.2 nF
C4
5V
220
R7
DOWN4
U2
220
R3
2.2nF
C3
5V
220
R8 DOWN3
U3
LEDON
GND 1
VS 2
OUT 3
GND 4
TSSP77
100
R12
5V
2.2 uF
C7
100
R13
5V
2.2 uF
C8
FRONT
RIGHT
1
2
3
1
2
3
DOWN3
LEDON
DOWN1A2
D4 DOWN5
LEFT
DOWN2
A2
RIGHT
DOWN4
D4
1
2
4
3
5
6
7
8
9
10
11
12
1
2
4
3
5
6
7
8
9
10
11
12
FRONT
DOWN3
DOWN1
DOWN5
FRONT
A2
D4
D0
D1
D2
D3
1
2
1
2
1
2
1
2
D0
D1
D2
D3
1
2
4
3
5
1
2
4
3
5
5V
0.1 uF
C9
1.0 uF
C10
5V
1
2
1
2
DOWN2
LEFT RIGHT
DOWN4
GND 1
VS 2
OUT 3
GND 4
TSSP77
GND 1
VS 2
OUT 3
GND 4
TSSP77
220
R14
220
R15
220
R16
1.0 uF
C11
1.0 uF
C12
1.0 uF
C13
10 uF
C14
10 uF
C15
10 uF
C16
(D20)
(D20)(D20)
(SDA)
(SDA)
(SCL)
(SCL)
(A0)
(A0)
(A3)
(D12)
(D12)
(A4)
(A3)
(A4)
(D11)
R