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ErnestoELC
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‎docs/api.md

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# ArduinoMotorCarrier library
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## Methods
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### `BATTERY`
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Returns information about the battery connected to the carrier.
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#### Syntax
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```
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battery.getRaw()
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battery.getConverted()
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battery.getFiltered()
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```
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#### Returns
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* _getRaw()_: returns the raw ADC read from the battery as am integer.
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* _getConverted()_: returns the battery voltage converted to volts as a floating point.
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* _getFiltered()_: returns the battery voltage converted to volts and filtered in the last 10 seconds.
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#### Example
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```
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#include <ArduinoMotorCarrier.h>
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//Variable to store the battery voltage
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float batteryVoltage;
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...
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void loop() {
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batteryVoltage = battery.getRaw()/236.0; //236 for Nano, 77 for MKR.
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Serial.print("Battery voltage: ");
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Serial.print(batteryVoltage,3);
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Serial.print("V, Raw ");
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Serial.println(battery.getRaw());
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delay(5000); //wait for a few seconds
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}
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```
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### `SERVO`
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Represent the servomotors available on the MotorCarrier. There are 4 headers for servomotors.
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#### Syntax
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```
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servo1.setAngle(int)
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servo2.setAngle(int)
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servo3.setAngle(int)
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servo4.setAngle(int)
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```
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#### Function
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* _setAngle(int)_: Set the rotation angle (from 0 to 180)
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### `MOTOR`
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There is 4 objects pointing to each possible motor: M1, M2, M3 and M4.
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#### Syntax
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````
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M1.setDuty(int)
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M2.setDuty(int)
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M3.setDuty(int)
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M4.setDuty(int)
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````
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#### Functions
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* _setDuty(int)_: Set the duty cycle of the dc motor (from -100 to +100) , 0 means stop.
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### `ENCODER`
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Represents the 2 quadrature encoders embedded in the carrier board. The two objects are encoder1 and encoder2.
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#### Syntax
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````
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encoder1.getRawCount()
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encoder2.resetCounter();
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````
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#### Functions
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* _getRawCount()_: Returns the number of counts from start as an integer.
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* _resetCounter(int)_: Resets counter to a certain value.
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### `CONTROLLER`
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Represents the motor shield controller and exposes some high level functions. It also configures the battery charger (only on the NanoMotorCarrier) to start charging the battery.
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#### Syntax
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```
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controller.getFWVersion()
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controller.reboot()
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```
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### `PID`
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Allow setting Motor1 or Motor2 to a specific speed or position. There are two PID virtual objects in the controller: pid1 and pid2. pid1 acts on M1 and encoder1. pid2 acts on M2 and encoder2. It is advisable to control the motors using these functions.
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#### Syntax
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```
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pid1. setGains(int P, int I, int D)
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```
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#### Functions
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* _setGains(float P, float I, float D)_: Set PID gains. (`int` type for MKRMotorCarrier)
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* _resetGains()_: Reset PID gains to factory default settings.
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* _setControlMode(cl_control)_: Set control mode to either `CL_VELOCITY` or `CL_POSITION`.
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* _setSetpoint(cl_mode, int target)_: Set a specific velocity or position in one of the motors. Define cl_mode as `TARGET_POSITION` or `TARGET_VELOCITY` and the desired value in target.
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#### Example
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Example for PID position control.
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```
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#include <ArduinoMotorCarrier.h>
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#define INTERRUPT_PIN 6
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//Variable to change the motor speed and direction
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static int duty = 0;
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int target;
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float P;
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float I;
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float D;
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void setup()
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{
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//Serial port initialization
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Serial.begin(115200);
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while (!Serial);
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//Establishing the communication with the motor shield
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if (controller.begin())
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{
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Serial.print("MKR Motor Shield connected, firmware version ");
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Serial.println(controller.getFWVersion());
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}
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else
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{
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Serial.println("Couldn't connect! Is the red led blinking? You may need to update the firmware with FWUpdater sketch");
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while (1);
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}
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// Reboot the motor controller; brings every value back to default
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Serial.println("reboot");
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controller.reboot();
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delay(500);
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int dutyInit = 0;
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M1.setDuty(dutyInit);
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M2.setDuty(dutyInit);
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M3.setDuty(dutyInit);
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M4.setDuty(dutyInit);
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Serial.print("Duty: ");
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Serial.println(dutyInit);
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P = 0.07f;//0.07 //0.2
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I = 0.0f;
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D = 0.007f;
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/************* PID 1 ***********************/
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pid1.setControlMode(CL_POSITION);
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//pid1.resetGains();
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pid1.setGains(P, I, D); //Proportional(change) Integral(change) Derivative
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Serial.print("P Gain: ");
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Serial.println((float)pid1.getPgain());
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Serial.print("I Gain: ");
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Serial.println((float)pid1.getIgain());
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Serial.print("D Gain: ");
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Serial.println((float)pid1.getDgain(), 7);
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Serial.println("");
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encoder1.resetCounter(0);
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Serial.print("encoder1: ");
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Serial.println(encoder1.getRawCount());
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target = 5000;
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pid1.setSetpoint(TARGET_POSITION, target);
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}
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void loop() {
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Serial.print("encoder1: ");
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Serial.print(encoder1.getRawCount());
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Serial.print(" target: ");
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Serial.println(target);
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if (encoder1.getRawCount() == target) {
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target += 1000;
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Serial.print("Target reached: Setting new target..");
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pid1.setSetpoint(TARGET_POSITION, target);
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//delay(5000);
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}
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delay(50);
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}
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```

‎docs/readme.md

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# ArduinoMotorCarrier library
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This library allows you to use both the Arduino Nano Motor Carrier and the MKR Motor Carrier. The carrier supports inputs for servo motors, dc motors, and encoders, and can read the battery voltage level. This library, therefore, has functions and creates objects to support such hardware. In addition, the library supports PID control for position and velocity. Note that not all hardware features are supported in both carriers so take a look at the specifications for each board. You don't need to initiate any objects manually, they are automatically created when you include "ArduinoMotorCarrier.h"
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To use this library:
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```
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#include <ArduinoMotorCarrier.h>
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```
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## Circuit
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Connect the carrier to the main compatible board (MKR1010 or Nano 33 IoT), connect the LiPo battery, turn the switch on and connect the board to the computer using a micro USB cable. You can also connect the motors that you need for your project (servo or DC w/ or w/o encoders).
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## Examples
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* [Battery Read](https://docs.arduino.cc/tutorials/mkr-motor-carrier/mkr-motor-carrier-battery): Reading the battery level with the MKR Motor Carrier.

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