Schematic Diagram

Primary Arduino connections

Pololu Zumo Shield for Arduino, v1.2

Vin
5V

U2

3.3V
RESERVED

31

IOREF

30

RESET

29
28

SW2
reset

24

5V

SCL

reserved

SDA

IOREF

AREF

3.3V

13

VIN

12

~10
14

A1

15

A2

16

A3

17

A4

18

A5

19

VBAT

R11
20k

A0

~9

A1

A4

~6

A5

~5
4
~3

A1

26
25

R12
20k

VBATDIV is 2/3
of battery voltage

20

SDA

21

AREF

13

13

12

12

11

11

10

M2PWM

M1PWM

M2DIR

R13 1K
D4
YELLOW
SW3
user

R14
1k

A3

JP9

VBATDIV

22

A2

2
1

R10
20k

SCL

RESET

~11

A0

23

GND

GND

TX

GND

RX

M1DIR

32U4_BUZZER

328P_BUZZER

JP6
1
2
3

27

32U4_BUZZER

328P_BUZZER
5V

BZ1
buzzer

D5

Arduino

Q3
R15 100k

2014 Pololu Corporation

www.pololu.com

Page 1 of 5

Schematic Diagram
I/O expansion connections

Pololu Zumo Shield for Arduino, v1.2

Vin

Vin
5V

5V

5V

5V

rear
11
A3
SDA
SCL
A1

5V
A0
A1

left
1
2
3
4
JP7

2014 Pololu Corporation

www.pololu.com

A4
A5
A2
A0
5

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
JP2

front
2
4
SDA
SCL
11
5
2
A3
A2
4

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
JP3

Page 2 of 5

A2
A3
A4
A5
A1
A4
A2
A1
A0
A5

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
JP4

A1
4
5
2
11
5
4
11
2
A4

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
JP5

5V
right
A3
A4

1
2
3
4
JP8

Schematic Diagram
Motor driver

Pololu Zumo Shield for Arduino, v1.2

5V

C16
0.1 uF

VBAT
U3
M1DIR
M1PWM

10
9

AIN1/APHASE

VM

M2PWM

5V

6
13

12
3.3 nF

BIN1/BPHASE

J1B

BIN2/BENBL
AOUT1

11

5V
C10

AIN2/AENBL
VCC

M2DIR

MODE

AOUT2

GND

BOUT1

GND

BOUT2

RMOT-

RMOT+

LMOT-

LMOT+

DRV8835

Right motor

Left motor
J1A
C11
3.3 nF

2014 Pololu Corporation

www.pololu.com

Page 3 of 5

Schematic Diagram
Inertial sensors
(3-axis accelerometer, magnetometer, and gyro)

Pololu Zumo Shield for Arduino, v1.2

3V3
5V

5V

C18
4.7 uF

C19
4.7 uF

C20
0.1 uF

C24
0.1 uF

C23
0.1 uF

3V3
R16
10k

R17
10k

JP10
1
2

C17
4.7 uF

SCL
Q4
SDA
3V3
Q5
1
2

3V3
U4
3

SETP

Vdd

C21
0.22 uF

Vdd_IO

14
1

JP11
R18
10k

R19
10k

R20
10k

R21
10k
3V3
U5

2
15

SETC

SCL/SPC
SDA/SDI/SDO

C1
SDO/SA0

C22
4.7 uF

CS
10
5
12
13
16

RES(GND)
GND
GND
GND
GND

4 SCLLV

6 SDALV

7 SA0

8 CS

5
8

INT1
INT2

11
9
10
11

LSM303D

12
13

SCL/SPC

VDD
RES(VDD)
SDA/SDI/SDO
VDD_IO
SDO/SA0
INT1
CS
DRDY/INT2
DEN
CAP
RES(GND)
RES(GND)
RES(GND)
GND
GND
L3GD20H

2014 Pololu Corporation

www.pololu.com

Page 4 of 5

16
15
1
7
6
14

C25
10 nF

Pololu Zumo Shield for Arduino, v1.2

Schematic Diagram
Main power and boost regulator

VBAT

VBAT
Q1

JP1

Q2

VB

1
2

VRP
R9
1k

charge
J1C
4xAA

R6
100k

R5
100k

R7
20k

D2
BLUE

SW1 3 OFF
2
1 ON
power

Vin

VBAT

Vin (about 7.45 V)

L1

10 uH

D1

IN
SHDN

COMP

SS 8

SS

C12
220 uF
C14
220 uF

U1
C6
0.1 uF

2014 Pololu Corporation

www.pololu.com

PAD
GND

C2
0.1 uF

FB

ROSC

C3
10 uF

FB

COMP

C5
0.1 uF
C4
10 uF

D6
RED

R2
20k

C15
220 uF
R3
20k

9
4

C1
10 uF

D3
BLUE

R1
100K

SW

SW

R4
20k

R8
1k

C7
2.2 nF

Page 5 of 5

C13
220 uF
D7
RED