Teensy 3.5 libraries for Pololu Zumo Shield (v.1.2)?

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PaulB

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I am working with the Pololu Zumo bot with shield.
This is mechanically designed to interface with an Arduino Uno, and Pololu has a nice S/W library on github.
However, I would like more I/O than than the Uno can provide, so my thought was to use a Teensy 3.5.
[IMHO, I think that thing kicks butt :)]
When I tried to use Polulu's S/W with the Teensy, however, I discovered some incompatibilities ...
I suspect these are related to low-level reconfiguration of Uno timers and/or ISR routines.
[And I don't think I'm up to the task of fixing this.]

So, before I begin creating my own Teensy/Pololu interface S/W from scratch, I was wondering if someone has already tackled this?
And is willing to share S/W?

Any other constructive recommendations are welcome as well.
[e.g., Seeeduino Mega?]
Thanks.

PaulB
 
Well in general it would be helpful to provide URL's for the specific product you bought, the specific library/example code you are using, and what error messages that you get. Assume that we don't know what a Zumo is and be specific about the details. If you don't provide the details, we might decide to move on to the next question.

Note, depending on the device, you may need to convert 3.3v -> 5v (and 5v -> 3.3v). Also, you may need to add pull-up resistors for the i2c bus. But that is after you have fixed the compilation warnings.

It is also helpful to go slowly and tackle small bits of functionality at a time, rather than trying to get everything going in one fell swoop.
 
Thank you, Michael. Of course, you're right ... How can I expect specific answers
if I don't ask specific questions? Let's see if I can clarify:

I have one of these: https://www.pololu.com/product/2510
and here's the github repository for the shield:
https://github.com/pololu/zumo-shield-arduino-library

It requires an Arduino Uno (or related) to be added as the "brain".
Given the devices on the shield (motor controller, gyro, magnetometer, etc.),
nearly all the Uno's I/O is used up. But I'd like to be able to add other devices,
so I'm looking for a replacement for the Uno, that has more I/O,
yet remains within the 10 cm x 10 cm restriction to qualify for "Mini Sumo"
https://en.wikipedia.org/wiki/Robot-sumo

The examples prvoided on github compile and work just fine when I plug in an Uno,
but compilation fails when I use a Teensy 3.5.
Example: ZumoMotorExample ... and it's the last errors regarding PololuBuzzer.cpp that caught my attention,
and prompted my previous comment.

<begin compiler messages>
Arduino: 1.8.3 (Windows 10), TD: 1.37, Board: "Teensy 3.5, Serial, 120 MHz, Faster, US English"

C:\Program Files (x86)\Arduino\arduino-builder -dump-prefs -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\Paul\AppData\Local\Arduino15\packages -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\Paul\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\Paul\Documents\Arduino\libraries -fqbn=teensy:avr:teensy35:usb=serial,speed=120,opt=o2std,keys=en-us -vid-pid=0X16C0_0X0483 -ide-version=10803 -build-path C:\Users\Paul\AppData\Local\Temp\arduino_build_434456 -warnings=none -build-cache C:\Users\Paul\AppData\Local\Temp\arduino_cache_934560 -verbose C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\examples\ZumoMotorExample\ZumoMotorExample.ino
C:\Program Files (x86)\Arduino\arduino-builder -compile -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\Paul\AppData\Local\Arduino15\packages -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\Paul\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\Paul\Documents\Arduino\libraries -fqbn=teensy:avr:teensy35:usb=serial,speed=120,opt=o2std,keys=en-us -vid-pid=0X16C0_0X0483 -ide-version=10803 -build-path C:\Users\Paul\AppData\Local\Temp\arduino_build_434456 -warnings=none -build-cache C:\Users\Paul\AppData\Local\Temp\arduino_cache_934560 -verbose C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\examples\ZumoMotorExample\ZumoMotorExample.ino
Using board 'teensy35' from platform in folder: C:\Program Files (x86)\Arduino\hardware\teensy\avr
Using core 'teensy3' from platform in folder: C:\Program Files (x86)\Arduino\hardware\teensy\avr
WARNING: Category '' in library SipHash is not valid. Setting to 'Uncategorized'
Detecting libraries used...
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\sketch\ZumoMotorExample.ino.cpp" -o "nul"
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\sketch\ZumoMotorExample.ino.cpp" -o "nul"
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\sketch\ZumoMotorExample.ino.cpp" -o "nul"
Using cached library dependencies for file: C:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire\Wire.cpp
Using cached library dependencies for file: C:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire\WireKinetis.cpp
Using cached library dependencies for file: C:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire\utility\twi.c
Using cached library dependencies for file: C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\L3G.cpp
Using cached library dependencies for file: C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\LSM303.cpp
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\PololuBuzzer.cpp" -o "nul"
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\Pushbutton.cpp" -o "nul"
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\QTRSensors.cpp" -o "nul"
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\ZumoMotors.cpp" -o "nul"
Generating function prototypes...
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\sketch\ZumoMotorExample.ino.cpp" -o "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\preproc\ctags_target_for_gcc_minus_e.cpp"
"C:\Program Files (x86)\Arduino\tools-builder\ctags\5.8-arduino11/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\preproc\ctags_target_for_gcc_minus_e.cpp"
Compiling sketch...
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -c -O2 -g -Wall -ffunction-sections -fdata-sections -nostdlib -MMD -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\sketch\ZumoMotorExample.ino.cpp" -o "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\sketch\ZumoMotorExample.ino.cpp.o"
Compiling libraries...
Compiling library "Wire"
Using previously compiled file: C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\libraries\Wire\Wire.cpp.o
Using previously compiled file: C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\libraries\Wire\WireKinetis.cpp.o
Using previously compiled file: C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\libraries\Wire\utility\twi.c.o
Compiling library "zumo-shield-arduino-library"
Using previously compiled file: C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\libraries\zumo-shield-arduino-library\L3G.cpp.o
Using previously compiled file: C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\libraries\zumo-shield-arduino-library\LSM303.cpp.o
"C:\Program Files (x86)\Arduino\hardware\teensy/../tools/arm/bin/arm-none-eabi-g++" -c -O2 -g -Wall -ffunction-sections -fdata-sections -nostdlib -MMD -fno-exceptions -felide-constructors -std=gnu++11 -fno-rtti -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -D__MK64FX512__ -DTEENSYDUINO=137 -DARDUINO=10803 -DF_CPU=120000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\cores\teensy3" "-IC:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire" "-IC:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library" "C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\PololuBuzzer.cpp" -o "C:\Users\Paul\AppData\Local\Temp\arduino_build_434456\libraries\zumo-shield-arduino-library\PololuBuzzer.cpp.o"
C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\PololuBuzzer.cpp:86:4: error: expected constructor, destructor, or type conversion before '(' token

ISR(TIMER2_OVF_vect)

C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library\PololuBuzzer.cpp:60:13: warning: 'void nextNote()' declared 'static' but never defined [-Wunused-function]

static void nextNote();

Using library Wire at version 1.0 in folder: C:\Program Files (x86)\Arduino\hardware\teensy\avr\libraries\Wire
Using library zumo-shield-arduino-library at version 2.0.0 in folder: C:\Users\Paul\Documents\Arduino\libraries\zumo-shield-arduino-library
Error compiling for board Teensy 3.5.
<end compiler messages>

Thanks again for any assistance.
Paul B
 
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