The Pololu Zumo 2040 robot is a versatile tracked robot based on the Raspberry Pi RP2040 MCU. This fully-assembled version includes two 75:1 HP micro metal gearmotors along with integrated dual motor drivers, quadrature encoders, line sensors, side and front proximity sensors for detecting objects, a full IMU for detecting impacts and tracking orientation, six RGB LEDS, and a graphical OLED display.

The low-profile robot is less than 10 cm 10 cmsmall enough to qualify for Mini Sumo. No soldering or assembly is required; just add 4x AA batteries and connect it to a computer with a USB-C cable and your Zumo is ready for programming!

Key Motor Characteristics (75:1 HP)

Micro Metal Gearmotor	75:1 HP
Free-Run Speed @ 6V	400 RPM
Stall Torque @ 6V	22 ozin
Stall Current	1600 mA
Top Zumo Speed	25 in/s (65 cm/s)

Overview

The Zumo 2040 is a highly integrated, user-programmable and customizable tracked robot. It measures less than 10 cm on each side and weighs approximately 275 g with batteries (160 g without), so it is both small enough and light enough to qualify for Mini-Sumo competitions, but its versatility makes it capable of much more than just robot sumo battles.

At the heart of the Zumo 2040 is a Raspberry Pi RP2040 microcontroller (like the one on the Raspberry Pi Pico), a 32-bit dual-core Arm Cortex-M0+ processor running at 125 MHz, which can be programmed with C, C++, Arduino, or Python. The Zumo 2040 has 16 MB (128 Mbit) of flash memory that ships preloaded with a MicroPython interpreter, so you can get started right away by plugging into its USB-C port and editing the included example Python programs.

For advanced users who want to customize or enhance their robots with additional peripherals, the robots power rails and microcontrollers I/O lines can be accessed via 0.1-spaced through-holes along the sides and front of the main board. A 4-pin JST SH-compatible connector provides access to the RP2040s I2C0 bus and can be used with many Sparkfun Qwiic and Adafruit STEMMA QT devices.

The Zumo 2040 features two H-bridge motor drivers and a variety of integrated sensors, including a pair of quadrature encoders for closed-loop motor control, a complete inertial measurement unit (3-axis accelerometer, gyro, and magnetometer), five downward-facing reflectance sensors for line-following or edge-detection, and front- and side-facing proximity sensors for obstacle detection and ranging.

Three onboard pushbuttons offer a convenient interface for user input, and a 12864 graphical OLED display, buzzer, and six RGB LEDs allow the robot to provide feedback.

Batteries (not included)

The Zumo robot runs on four AA batteries (not included) It works with both alkaline and NiMH batteries, though we recommend using rechargeable AA NiMH cells.

Specifications

Processor	RP2040 @ 125 MHz
RAM size	264 Kbytes
Program memory size	16 Mbytes
External programmer required?	N
Assembled	Y
Version	assembled with 75:1 HP motors
Size	96L 99W 39H mm
Weight	160g (without batteries)
PCB dev codes	zum03a
Other PCB markings	0J14237