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Schematic diagram

Zumo 32U4 main board


2015 Pololu Corporation
www.pololu.com

PISW101

Microcontroller and user interface

nRESET

PISW102

COL1
L1

5V

AVCC

Front expansion area

COSW1
SW1
PIL101

10 uH

COU1
ATmega32U4
COJ2
USB Micro-B

VBUS

COR1
R1
COR2
R2
PIR201

PIR102

22

UVcc
D17
D15
D16
D14
D8
D9
D10
D11

NC
NC
NC
NC
NC
NC

PIJ205

11
10
9
8
7
6

PIJ201 PIJ201 PIJ209 PIJ208 PIJ207 PIJ206

D3
D2
D0
D1
D4
PD5
D12
D6

COY1
Y1

10 pF

PIC402

20
21
PIU1021
25
PIU1025
22
PIU1022
26
PIU1026
27
PIU1027
PIU1020

16
PIU1016

PIY103

17
PIU1017

PIY102 PIY104

PIC401

PIC502
PIC501

COC5
C5
10 pF

PD0 (INT0/SCL/OC0B)

19
PIU1019
PD1 (INT1/SDA)

PD2 (INT2/RXD1)
PD3 (INT3/TXD1)
PD4 (ICP1/ADC8)
PD5 (XCK1/CTS)
PD6 (T1/OC4D/ADC9
PD7 (T0/OC4D/ADC10)
XTAL2
XTAL1

3V3

1 uF

PIR1901

2
PILCD02

PIU102

D0
D1
A3
A2
A0
A1
D11

24
AVCC PIU1024
44
AVCC PIU1044

COC3
C3
AREF

42
PIU1042

AREF

PE2 (HWB)

33
PIU1033

PE2

PE6 (INT6/AIN0)

1
PIU101

D7

PIC301

PIC302

0.1 uF

31

PC6 (OC3A/OC4A)
PC7 (ICP3/CLK0/OC4A)

PIU1031

PF7 (ADC7/TDI)
PF6 (ADC6/TDO)
PF5 (ADC5/TMS)
PF4 (ADC4/TCK)
PF1 (ADC1)
PF0 (ADC0)

PIU1036

32
PIU1032
36
37
38
PIU1038
39
PIU1039
40
PIU1040
41
PIU1041
PIU1037

RS

PILCD04

R/W

PILCD05

PILCD06

DB0

PIR1903

Mid

PIJP702

VBAT

PIJP703

5V

Rear
VBAT

PIJP501

D4

1
2
PIJP503 3
PIJP504 4
PIJP505 5
PIJP506 6
PIJP507 7
PIJP508 8
PIJP509 9
PIJP5010 10
PIJP5011
11
PIJP5012 12

IRR
IRL
D0
D1
D11
A2
A1

3V3

(D18)
(D19)
(D20)
(D21)
(D22)
(D23)

A3
D3
D2
A0
D5

COJP5

COJP6

Top expansion area

A0
A1
A2
A3
A4
A5

5V

5V

Left
IRL
A0
A2
A4
PE2
SHDN

5V

Right

1
PIJP102 2
PIJP103 3
PIJP104 4
PIJP105 5
PIJP106 6
PIJP107 7
PIJP108 8
PIJP109 9
PIJP1010 10
PIJP1011 11
PIJP1012 12
PIJP1013
13

1 PIJP201
2 PIJP202
3 PIJP203
4 PIJP204
5 PIJP205
6 PIJP206
7 PIJP207
8 PIJP208
9 PIJP209
10 PIJP2010
11 PIJP2011
12 PIJP2012
13 PIJP2013

PIJP101

COJP1

5V

PIR301

5
6

IRR
A1
A3
A5
AREF
STAT
PSW

1
PIJP302 2
D0
PIJP303 3
D2
PIJP304 4
D4
PIJP305 5
D6
PIJP306 6
D8
PIJP307 7
D10
PIJP308 8
D12
PIJP309 9
D17
PIJP3010 10
D14
PIJP3011 11
D15
PIJP3012 12
nRESET PIJP3013
13

1 PIJP401
2 PIJP402
3 PIJP403
4 PIJP404
5 PIJP405
6 PIJP406
7 PIJP407
8 PIJP408
9 PIJP409
10 PIJP4010
11 PIJP4011
12 PIJP4012
13 PIJP4013

PIJP301

3V3

VREG
VCC
VBAT
VB

COJP2

COJP3

COJP4

PIR302
D13

PILCD08

DB2

PIR701

PILCD09

COR7
R7

10
PILCD010

1k

DB4

11
PILCD011

D14

DB5

12
PILCD012

D17

13

PILCD013

DB7

14
PILCD014

PD5

D14

PIR602

COD2
D2

PID20

Green
PIR901

D17

PIR902

COR9
R9 3k

COSW2
SW2

COSW4
SW4

COD4
D4

PISW402
PIR1001

PIR1002

PISW301
COSW3
SW3

PIR802
COR8
R8

PISW302

D6

PID401

PIR801

PIJ402

PIBZ102

COBZ1

buzzer

COQ6
Q6

PIQ601

PIQ602
PIR2302

PIR2301

COR23
R23 100k

Page 1 of 4

PIBZ101

PIQ603

COJ4
PIJ401

1k

Yellow

PISW202

PID402

Red

COR10 3k
R10

PISW201

5V

PISW401

PID201

PID102
COD3
D3

COR6
R6 1.5k
PIR601

COD1
D1
PD5

PID301
PID302

PIR502

PID101

PIR702

D13

2.21k

PIR402

COR5
R5 1k
PIR501

DB3

DB6

COR4
R4

1.5k

7
PILCD07

DB1

PIR401
COR3
R3

D1

1
2
3
PIJP604 4
PIJP605 5
PIJP606 6
PIJP607 7
PIJP608 8
PIJP609 9
PIJP6010 10
PIJP6011
11
PIJP6012 12
PIJP602
PIJP603

D6
A4

D0

PIJP601

D12

PIJP502

D5
D13

PIU105 PIU10 5 PIU1023 PIU1035 PIU1043 PIU1045

10k

1
2
3
PIJP704 4
PIJP705 5
PIJP706 6
PIJP707 7
PIJP708 8
PIJP709 9
PIJP7010 10
PIJP7011 11
PIJP7012 12
PIJP7013
13
PIJP7014 14
PIJP7015 15
PIJP7016 16
PIJP701

COJP7

COR19
R19

PIR1902

PILCD03

D3
D2
D12
D4
A4

5V

Vo

0.1 uF
VBAT

PILCD01

clockwise

VDD

Front

COC1
C1

COC2
C2

5V
Vss

PIC102
PIC101

AVCC

PB0 (SS/PCINT0)
9
PIU109
PB1 (PCINT1/SCK)
10
PIU1010 PB2 (PDI/MOSI/PCINT2)
11
PIU1011 PB3 (PDO/MISO/PCINT3)
28
PIU1028
PB4 (PCINT4/ADC11)
29
PIU1029
PB5 (OC1A/OC4B/PCINT5/ADC12)
30
PIU1030
PB6 (OC1B/OC4B/PCINT6/ADC13)
12
PIU1012 PB7 (OC0A/OC1C/PCINT7/RTS)
18
PIU1018

PIC202

5V

8
PIU108

16 MHz

PIY101

COLCD
LCD

AVR3V3

14
VCC PIU1014
34
VCC PIU1034

PIR202

22

4
PIJ204

COC4
C4

7
PIU107
VBus
3
PIU103
D4
PIU104 D+

UGnd
GND
GND
GND
GND
PAD

GND

PIU106

PIC201
PIR101

PIJ203

ID

UCap

1
PIJ201

2
D- PIJ202
D+

RESET

5
15
23
35
43
45

VBUS

13

PIU1013

PIL102

D1
D3
D5
D7
D9
D11
D13
PD5
D16

5V

Schematic diagram

Zumo 32U4 main board


2015 Pololu Corporation
www.pololu.com

Motors, encoders, IMU, sensors, and emitters

Motors

IR emitters
VBAT

COU5
DRV8838
D16PIU506
6

PH

D10PIU505
5

EN

VM
VCC
nSLEEP

VBAT

COU2
DRV8838

1
PIU501

D15 PIU206
6
5V

COC10
C10
5V

PIC1002 PIC1001

8
PIU508

PH

7
PIU507

5V

5V

D9

5V

VM

EN

PIU205

VCC
nSLEEP

3.3 nF

PIC902

9
PIU509

GND (PPAD)

OUT1

2
PIU502

ML-

4
PIU504

GND

OUT2

3
PIU503

ML+

0.1 uF

PIC901

COJ1A
COJ1B
PIJ101

PIC1 02

COC9
C9

PIC1 01

PIC702

COC11
C11
0.1 uF

PIC802

COC7
C7
0.1 uF

PIC701

5V

1
PIU201
5V
7
PIU207

COC8
C8
0.1 uF

PIC801

9
PIU209

GND (PPAD)

OUT1

2
PIU202

MR-

4
PIU204

GND

OUT2

3
PIU203

MR+

PIC4202 COC42
C42

COC6
C6
PIC602

8
PIU208

PIC601

PIC4201

PIC4302 COC43
C43

10 uF

3.3 nF

COC50
C50

Right motor

10 uF

PIJ104

PIC4301

PIC50 2

PIC4 02

10 uF

COC51
C51
10 uF

PIC50 1

PIC4 01

PIC5102

COC44
C44

PIC5101

COJP8

PIR3601
PIR3802

VS

PIR1301

EAL

PIU602

EAL 1PIU?01

10k

1
PIU701

PIR1401

GND

3
PIU603

D8

PIU?034

PE2 6PIU?02
PE2

PIU702

GND

PIR1 02

5V

PIU?014

PIU?014

EAR

1PIU?01

A5

6PIU?02

COU?
PIU?034

PIU?07

COU3
D7

VS

PIU?07

PIR1202
COR11
R11

1
PIU301

10k

VS

PIR1 01

EAR

PIU302

COU4

PID10

COR12
R12
10k

1
PIU401

PID10 2

PIR1201

3
PIU703

GND

3
PIU303

GND

1
2

Red

PIJP1002

PIR3901

PIR4302

PID802
PID801

COR43
R43
NP

PIR4301

5V

3
PIU403

COR39
R39
22

PIR3801

COJP11

PIJP1001

A5

PIU402

PIR3902

COJP10
COD10
D10

PIJP1101

Middle left LED


PIJP1102

D5
A1

1
PIU301

PIU305

IR

IN2

PIU304

6PIU306

PIQ703

COU3A

COQ7
Q7

PIQ701

PIQ702

PIU302

Inertial sensors
5V

COC34
C34
10 uF

PIC3402
PIC3401

COC36
C36
0.1 uF

PIC3602
PIC3601

COC37
C37
0.1 uF

PIR4702

PIC3702
PIC3701

PIQ401
PIQ402

3V3

COC39
C39
0.22 uF

PIC3902
PIC3901

Vdd_IO
2

15

PIU11015

COC40
C40
4.7 uF

14
PIU11014

PIR30 2

SETC

COR30
R30
10k

PIU1101

SCL/SPC

C1

PIC40 2

SDO/SA0

PIC40 1

CS
10
5
12
PIU11012
13
PIU11013
16
PIU11010
PIU1105

PIU11016

4 SCLLV

PIU1104

6 SDALV
SDA/SDI/SDO PIU1106

RES(GND)
GND
GND
GND
GND

7 SA0

PIR3102

PIR3202
COR31
R31

COR32
R32

10k

PIR3101

PIR3 02

PIJ501

PIQ501

COJ6
PIQ503

INT2

10k

COC54
C54
10 uF

PIC5301

PIC5402

PIR3502

10 uF

PIC5401

COR35
R35
100

PIC5 02

COC55
C55

PIC5 01

PIR3501
COJP9

5V

PIJP901

SCL/SPC

VDD
RES(VDD)

3
PIU1203
SDA/SDI/SDO
4

5
PIU1205
PIU1208

PIU1209

10
PIU12010
11

PIU12011

12

PIU12012

13
PIU12013

VDD_IO
SDO/SA0
INT1
CS
DRDY/INT2
DEN
CAP
RES(GND)
RES(GND)
RES(GND)
GND
GND

16

PIR4501

COU17

PIU12016

15
PIU12015

OUT
1

PIU1201

GND

7
PIU1207

VS

6
PIU1206

COC48
3

PIU1703

PIC4802 PIC4801

4.7 uF

14

PID1 01
PID1 02

2
PIU1702

x2

PIR40 1

PIR4101

PIR4202

PID902

COJP12
COD11
D11
Red

1
2

PIJP1201
PIJP1202

COJP13
PIJP1301

Middle right LED


PIJP1302

COR42
R42
NP

PID901

PIR4201

5V

PIU12014

COR41
R41
22

NP

PIJP1401

1
2

Front right LED

PIR4102
COR40
R40

PIR3702

COJP14

PIU1701

PIR40 2

COR37
R37
1k

100

COU12
L3GD20H
PIU1202

PIR3701
COR45

3V3

PIR3 01

8 CS
PIU1108

9
PIU1109

10 uF

D2
(SDA)

PIJ602

PIC5302

COC53
C53

PIC4702 COC47
C47
PIC4701 10 uF

PIJP902

PIU1204

11

PIJ601

Left and right optional IR receiver connections

PIR4502

PIU1107

PIU11011

D3
(SCL)

PIJ502

PIC4602 COC46
C46
PIC4601 10 uF

COQ5
Q5

INT1

COJ5

COR33
R33

10k

PIR3201

PIC4502 COC45
C45
PIC4501 10 uF

10k

PIR2901

PIQ403

COQ4
Q4

PIR30 1
PIU1102

PIR2801

PIQ502

Vdd

COR29
R29

10k

PIR4701

100k

PIR4 01

5V

PIR2902
COR28
R28

3k

3V3

COU11
LSM303D
3
PIU1103 SETP

PIR2802

3V3

0.1 uF

PIC3801

COR47
R47

COR44
R44

1
2

COD9
D9
IR
IRR

PIC3 02
PIC3 01

COC38
C38

PIR4 02

PIC4102 COC41
C41
PIC4101 10 nF

D5
A1

PIU405

PIU403

PIQ803

COU4A

PIU402

Page 2 of 4

PIU404

PIU406

COC33
C33
10 uF

PIC3802

D5

Hall Effect sensor ICs in SOT-23 packages, e.g. AH1751


Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
Implemented as 74LVC1G97 multi-function gate with pin 3 tied to GND
Implemented as 74LVC1G97 multi-function gate with pin 1 tied to GND

5V

3V3

1
2

COD8
D8
IRL

1
PIU601

5V

COR14
R14

10k

COU7

1
2

Front left LED

COR38
R38
NP

PIR3602

5V

VS

5V

PIR1402
COR13
R13

PIR3401
PIJP802

COR36
R36

5V

PIR1302

PIC5201

PIJ103

1k

COU6

COR34
R34
100

PIC5202

COC52
C52
10 uF

PIJP801
PIJ102

Left motor
5V

PIR3402

10 uF

IN1

COQ8
Q8

PIQ801

PIQ802

Schematic diagram

Zumo 32U4 main board


2015 Pololu Corporation
www.pololu.com

Power

COL2
L2
PIL201

PIL202

1.2 uH
TPS63061

COQ1
Q1
VB

PIQ102
PIQ101
PIQ106
PIQ105

VBAT

COQ2
Q2

PIQ104

PIQ204

PIQ103

VBAT

PIQ202
PIQ201
PIQ206
PIQ205

VBAT

REGENPIU903
3

COR27
R27
220k

PIR1802

COJ1C

REGEN

100k

PIJ106

PIC2402
PIC2401

PIR2702
COR18
R18

Zumo chassis

SHDN

COQ3
Q3

PIQ301

220 uF

COC29
C29
220 uF

COSW5
SW5
PSW

2
PISW502

1
PISW501

PIC2102
PIC2101

COC24
C24

PIQ303

PIR1801

L1

L2

2
PIU902
VIN

PIR2701

PIQ203

PIJ105

1
PIU901

PIQ302

PIC2902
PIC2901

PIC2502
PIC2501

COC21
C21
10 uF

COC27
C27
10 uF

0.1 uF

PIU904

PIC2702
PIC2701

6
PIU906

COC25
C25

COC31
C31
0.1 uF

PIC3102

7
PIU907

10
PIU9010

VREG

9
VOUT PIU909

EN
FB

8
PIU908

PG

5
PIU905

PAD

11
PIU9011

VAUX

PIC2 02
PIC2 01

PS/SYNC
GND

COC30
C30
0.1 uF

COU9

PIC3101

PIC30 2

COC28
C28
10 uF

PIC30 1

PIC2302
PIC2301

COC22
C22
10 uF

COC26
C26
330 uF

COC23
C23
10 uF

PIC2802

PIC3202

PIC2801

PIC3201

PIC2602
PIC2601

COC32
C32
330 uF

3
PISW503

SMT

VREG

VBUS

6
PIU806

PIR1502

100k

PIU803

IN2
VSNS
ILIM

PIR1501
2
PIU802

PIR1702

COC18
C18
1 uF

COR17
R17
20k

OUT
STAT

COR15
R15

EN

7
PIU807
1 STAT
PIU801
4

PIU804

PIR1601

5
9

PIU805
PIU809

270
GND
PAD

COC19
C19

PIC1202
PIC1201

PIC1302 COC13
C13
PIC1301 10 uF

COC12
C12
10 uF

PIC1502
COR16
R16

PIC1802

PIC1801

5V

5V

COU8
TPS2113A
8
PIU808 IN1

PIC1501

COC15
C15
10 uF

1 uF

PIC1402 COC14
C14
PIC1401 0.1 uF

PIC1602
PIC1601

COC16
C16
0.1 uF

PIC1702
PIC1701

PIC1902

3V3

COU10 LDO
3.3V
1
PIU1001 IN
OUT
3
PIU1003 ON/OFF
NC
2
PIU1002
GND

PIC1901

5
PIU1005
4
PIU1004

PIC20 2
PIC20 1

COC20
C20
1 uF

PIR2402

PIR2401
AVR3V3

0.1 uF

PIR1602

VREG

VBUS

VBAT

PIR2502

PIR2602

PIR20 2

PIR2102

COR25
R25
COR24
R24
NP

COC17
C17

VBAT

COR26
R26
1k

1k

COR20
R20

PIR2501

PIR2601

PIR20 1

PID601
PID602

PID701
PID702

PID501
PID502

COD6
D6
Blue

COR21
R21

1k

COD7
D7
Blue

20k

PIR2101
PIR2 02
COD5
D5

COR22
R22

Green

20k

PIR2 01

PIR1701

Page 3 of 4

COJ3
PIJ301

PIJ302

A1

Schematic diagram

Zumo 32U4 front sensor board


2015 Pololu Corporation
www.pololu.com

COC1
C1
2.2 nF

PIR101

PIC102
PIC101

COR4
R4

PIR402

PIU504

PIR401

220

PIU501
COU5
U5

PIU503

COR2
R2
150

PIJP702 PIJP701

COC2
C2
2.2 nF

PIR201

DOWN5

5V

PIC202

PIC902

PIC201

COR6
R6

PIR602

PIU404

2
1

COR1
R1
150

5V

PIR202

PIC901

5V

COC9
C9
0.1 uF

PIC10 2
PIC10 1

COC10
C10
1.0 uF

PIC1 02

COC11
C11
1.0 uF

PIC1 01

PIC1202
PIC1201

COC12
C12
1.0 uF

PIC1302
PIC1301

COC13
C13
1.0 uF

PIC1402
PIC1401

COC14
C14
10 uF

PIC1502
PIC1501

COC15
C15
10 uF

PIC1602
PIC1601

PIR1202
COC16
C16

COR12
R12
100

10 uF

220

PIU401

VS

COU4
U4

COJP7

PIU502

PIU403

PIR1201

COU7a

PIR601DOWN4

OUT

PIU402

GND
GND

2
PIU7a02
3 PIR1502
PIU7a03

COR15
R15

1
4
PIU7a04

220

PIR1501

FRONT

PIJP902 PIJP901
2
1

5V

PIR102

PIU7a01

PIC702
PIC701

COC7
C7
2.2 uF

COJP9

TSSP77

COC5
C5
2.2 nF

5V

PIC502

COC4
C4

PIC501
PIR502

PIR501

220

PIU101
COU1
U1

PIU103

PIJP10 2 PIJP10 1

DOWN1

PIR302

PIC402

COR3
R3

PIU204

COC3
C3
2.2nF

220

PIC401

COR7
R7

PIR702

2
1

PIU104

2.2 nF

COR5
R5

5V

220

PIU201

PIR701DOWN2

PIR301

PIC302
PIC301

PIU102

PIU203

PIU202

PIR801

PIJP802 PIJP801

220

PIU301

COU2
U2

COJP10

COR8
R8

PIR802

PIU304

COU3
U3

PIU303

DOWN3

2
1

5V

PIJ202 COJ2

PIJ101

PIR1 02
COR13
R13
100

PIU302

PIR1301

VS

PIJ302 COJ3

PIJ201

5V

PIR1302

COJP8
COU8c

PIJ102 COJ1

5V

OUT

PIJ301

2
PIU8c02

COR16
R16
220

PIU8c01

PIR1601LEFT

PIC802

PIC801

OUT

COC8
C8
2.2 uF

TSSP77

COJP3
COR9
R9

5V

47k

PIR10 2

PIQ103
COR10
Q1
R10 COQ1
NP

PIR10 1

PIR901
PIQ101

PIQ102

1
2
PIJP203 3
PIJP204 4
PIJP205 5
PIJP206 6
PIJP207 7
D0
PIJP208 8
D1
PIJP209 9
LEDON (D11)
PIJP2010 10
A2 (D20) PIJP2011
11
PIJP2012 12
D4

LEDON

COJ4
PIJ402

PIJ401

PIJP201
PIJP202

COJP2

1
2
PIJP103 3
PIJP104 4
FRONT(A4)PIJP105
5
PIJP106 6
PIJP107 7
DOWN3 (A3)PIJP108
8
D3 (SCL) PIJP109
9
D2 (SDA) PIJP1010
10
DOWN1(A0)PIJP1011
11
PIJP1012 12
PIJP101

DOWN5 (D12)
PIJP102

COJP1

Page 4 of 4

D0
PIJP301
D1
PIJP302
DOWN5 (D12)
PIJP303
D4
PIJP304
FRONT(A4) PIJP305

1
2
3
4
5

COJP6
DOWN2PIJP601
1
LEFT PIJP602
2

COJP5
DOWN4PIJP501
1
RIGHT PIJP502
2

COJP4
DOWN3 (A3)PIJP401
A2 (D20)
PIJP402
DOWN1 (A0)PIJP403
D3 (SCL) PIJP404
D2 (SDA) PIJP405

1
2
3
4
5

2
PIU6c02
3 PIR1402
PIU6c03

1
GND
4
GND PIU6c04
PIU6c01

TSSP77

5V

PIR902

100
VS

3 PIR1602
PIU8c03

1
GND
4
GND PIU8c04

COR11
R11

PIR1 01

COU6c

COJP12
DOWN2PIJP1201
1
A2 (D20)PIJP1202
2
LEFT PIJP1203
3

COJP11
DOWN4PIJP1101
1
D4
PIJP1102 2
RIGHT PIJP1103
3

COR14
R14
220

PIR1401RIGHT

PIC602

PIC601

COC6
C6
2.2 uF

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