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Simulink Library for Zumo Robot

version (912 KB) by Chirag Gupta
A library of blocks to get started with the Zumo Robot


Updated 09 May 2014

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This Simulink Library provides driver blocks for all the sensors present on the Zumo Robot as well as example models showing their usage.
For more information about Zumo Robot for Arduino, please refer to:

Cite As

Chirag Gupta (2021). Simulink Library for Zumo Robot (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (11)


Moale Bogdan

I followed the tutorial from pdf fille about how to use this library. In that tutorial is some
graphics with the response of the system with P regulator and with PD regulator. Since I don't have yet the robot to test the algoritm, how can I see the response of the system with diferent values of the regulator?


Hm, also the LineFollowing model won't compile anymore.

LineFollowing.c:116:1: error: unable to find a register to spill in class 'POINTER_REGS'
} void LineFollowing_derivatives ( void ) { jbt2dxy1wr * _rtXdot ; _rtXdot =
LineFollowing.c:116:1: error: this is the insn:
(insn 674 673 676 50 (set (reg:SF 183 [ D.3998 ])
(mem:SF (post_inc:HI (reg:HI 16 r16 [orig:233 ivtmp.21 ] [233])) [4 MEM[base: _342, offset: 0B]+0 S4 A8])) LineFollowing.c:26 99 {*movsf}
(expr_list:REG_INC (reg:HI 16 r16 [orig:233 ivtmp.21 ] [233])
LineFollowing.c:116: confused by earlier errors, bailing out
gmake: *** [LineFollowing.o] Error 1


The install script still requires a revision (See comment from Phoenix Wang)

Aye Chan

how can i get the real time data or plot of zumo robot by using matlab simulink.
anyway, great invention.

tin zar khaing wai

i am using matlab R2014a with simulink and i can drive the motor successfully.but i can't download the other zumo library example to my shows the error message.

Phoenix Wang

After an update to the arduino libraries, in the latest Arduino Hardware Support Package, the support package was restructured and the folder was renamed from "arduino" to "arduinobase"

The original installation script references the old libraries, so there is a need for a change in the script.

Simple Instructions to Install:
Navigate to the zumo_library folder once it's extracted.

And double click "install_zumobotlib.m"

A script editor window should open up, and then go to line 49, which should say "installOutputPath = arduinopath(1:strfind(arduinopath,fullfile('arduino','blocks','arduinolib.slx'))-1);"

Since the script is trying to find a string with the right folder name, change "arduino" to "arduinobase"

Line 49 should now say "installOutputPath = arduinopath(1:strfind(arduinopath,fullfile('arduinobase','blocks','arduinolib.slx'))-1);"

Hit "Save" (or cmd/crtl + S) and close the script editor.

Then type install_zumobotlib in the command window as you normally would and the zumobotlib should automatically install.

Giuseppe Ridinò

Just a comment about the description, you refer to Pololu item #2506 which is discontinued, see

Does it work also with Pololu item #2508,

BTW, great submission, I love it!

Giuseppe Ridinò

Just a comment about the description, you refer to Pololu item #2506 which discontinued, see

Does it works also with Pololu item #2508,

BTW, great submission, I love it!

Paul Kassebaum


MATLAB Release Compatibility
Created with R2014a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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