Now that we have understood the model, let us download it to the robot and see it in action.

Open the Motors model from the examples directory that came with the ZumoBot library. To start off, use the default values in the model for velocity 'v' (20 cm/s) and angle of turn 'omega' (0.1 rad/s).

To build and download the model on the ZumoBot, click on the Deploy on hardware button in the right top corner of the model.
Read the messages at the bottom status bar of the model to confirm that the model is successfully downloaded to the target. See the robot moving in the input trajectory.

In this case, the radius of curvature is quite large, and for short distances, the Zumo Robot almost appears to move in a straight line.
Now let us modify the input velocity 'v' to 10 cm/s and 'omega' to 1.5 rad/s. Note that you can change the value of 'v' and 'omega' by double clicking on the respective blocks and modifying the constant value parameter. Generate and download the code for the modified model into the Arduino once again.

In this situation the radius of curvature is comparatively smaller, and the Zumo Robot appears to constantly make a sharp turn.

This guide was first published on May 12, 2014. It was last updated on May 12, 2014.

This page (Generate code, load and run) was last updated on Feb 27, 2014.

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