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Add examples for upcoming NanoMotorCarrier
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‎examples/Nano/DCMotorTest/DCMotorTest.ino

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#include <ArduinoMotorCarrier.h>
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#define INTERRUPT_PIN 6
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//Variable to store the battery voltage
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static int batteryVoltage;
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//Variable to change the motor speed and direction
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static int duty = 0;
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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; // at 50 it works as espected, at 60 shift sides and is too small duty to move, at 70 is very big duty.
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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 init: ");
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Serial.println(dutyInit);
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// int duty2 = dutyInit * 16777215 / 100;
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// Serial.print("Conversion formula: ");
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// Serial.println(duty2);
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//while (1); //WHILE 1!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! REMOVE!!!!
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}
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void loop() {
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//Take the battery status
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//float batteryVoltage = (float)battery.getConverted();
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//Reset to the default values if the battery level is lower than 11V
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// if (batteryVoltage < 11)
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// {
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// Serial.println(" ");
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// Serial.println("WARNING: LOW BATTERY");
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// Serial.println("ALL SYSTEMS DOWN");
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// M1.setDuty(0);
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// M2.setDuty(0);
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// M3.setDuty(0);
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// M4.setDuty(0);
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// while (batteryVoltage < 11)
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// {
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// batteryVoltage = (float)battery.getConverted();
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// }
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// }
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// else
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// {
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//Motor test
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for (duty = -100; duty < 100; duty += 1)
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{
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Serial.print("Motor Duty: ");
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Serial.println(duty);
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M1.setDuty(duty);
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M2.setDuty(duty);
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M3.setDuty(duty);
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M4.setDuty(duty);
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delay(10);
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}
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for (duty = 100; duty > -100; duty -= 1)
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{
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Serial.print("Motor Duty: ");
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Serial.println(duty);
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M1.setDuty(duty);
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M2.setDuty(duty);
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M3.setDuty(duty);
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M4.setDuty(duty);
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delay(10);
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}
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//Keep active the communication MKR1000 & MKRMotorCarrier
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//Ping the samd11
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controller.ping();
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//wait
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delay(50);
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}

‎examples/Nano/EncoderTest/EncoderTest.ino

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#include <ArduinoMotorCarrier.h>
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#define INTERRUPT_PIN 6
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//Variable to store the battery voltage
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static int batteryVoltage;
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//Variable to change the motor speed and direction
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static int duty = 0;
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void setup()
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{
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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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//Serial port initialization
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Serial.begin(115200);
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while (!Serial);
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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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// Reset the encoder internal counter to zero (can be set to any initial value)
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Serial.println("reset counters");
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encoder1.resetCounter(0);
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encoder2.resetCounter(0);
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M1.setDuty(30);
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M2.setDuty(30);
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M3.setDuty(30);
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M4.setDuty(30);
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}
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void loop() {
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//Chose the encoder to use:encoder1(default) or encoder2
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Serial.print("Encoder1 Pos [counts]: ");
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Serial.print(encoder1.getRawCount());
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Serial.print(" Encoder1 vel [counts/sec]: ");
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Serial.println(encoder1.getCountPerSecond());
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Serial.print("Encoder2 Pos [counts]: ");
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Serial.print(encoder2.getRawCount());
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Serial.print(" Encoder2 vel [counts/sec]: ");
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Serial.println(encoder2.getCountPerSecond());
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Serial.println("");
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//Keep active the communication MKR1000 & MKRMotorCarrier
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//Ping the samd11
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controller.ping();
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//wait
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delay(50);
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}

‎examples/Nano/Flasher/Flasher.ino

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/*
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STANDALONE FIRMWARE UPDATE FOR MKR Motor Shiuld
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To generate a new firmware, compile D11-Firmware with target MKRMotorShield, 4KB bootloader, LTO enabled, pinmap complete
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and execute
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echo -n "const " > fw.h && xxd -i D11-Firmware.ino.bin >> fw.h
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*/
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#include "Wire.h"
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#include "fw.h"
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#include "MKRMotorCarrier.h"
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#define I2C_ADDRESS 0x09
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void setDataRunning(int cmd, uint8_t target, int data) {
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Wire.beginTransmission(0x66);
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Wire.write((uint8_t)cmd);
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Wire.write((uint8_t)target);
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Wire.write(data);
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Wire.endTransmission();
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}
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void setup() {
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// put your setup code here, to run once:
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Wire.begin();
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Wire.setClock(1000000);
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Serial.begin(115200);
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while (!Serial);
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pinMode(6, OUTPUT);
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digitalWrite(6, HIGH);
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int prev_address = -1;
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Wire.beginTransmission(0x66);
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Wire.write((uint8_t)GET_VERSION);
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Wire.write((uint8_t)0);
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Wire.endTransmission();
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Wire.requestFrom(0x66, 5);
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Wire.read();
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String version = "";
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while (Wire.available()) {
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version += (char)Wire.read();
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}
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if (version.c_str()[0] == '0') {
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Serial.println("Reset D11");
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setDataRunning(RESET, 0, 0);
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delay(10);
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}
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// reset running D11
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Serial.println("Erase flash");
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Wire.beginTransmission(I2C_ADDRESS);
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Wire.write('r');
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Wire.endTransmission();
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delay(500);
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Serial.println("Starting flash");
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int address = 0;
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while (address < (D11_Firmware_ino_bin_len + 0x1000)) {
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int retry = 0;
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do {
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Wire.requestFrom(I2C_ADDRESS, 4);
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uint8_t buf[4];
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int k = 0;
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while (Wire.available()) {
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buf[k++] = Wire.read();
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}
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address = *(uint32_t*)buf;
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delay(10);
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} while (prev_address == address && retry++ < 5);
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prev_address = address;
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Serial.println(address);
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uint8_t crc = 0;
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for (int j = 0; j < 64; j++) {
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crc ^= D11_Firmware_ino_bin[address - 0x1000 + j];
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}
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Serial.println(crc, HEX);
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Wire.beginTransmission(I2C_ADDRESS);
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Wire.write('w');
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Wire.write(crc);
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Wire.write(&D11_Firmware_ino_bin[address - 0x1000], 64);
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Wire.endTransmission();
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}
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Serial.println("Booting FW");
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Wire.beginTransmission(I2C_ADDRESS);
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Wire.write('x');
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Wire.endTransmission();
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delay(1000);
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Wire.beginTransmission(0x66);
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Wire.write((uint8_t)GET_VERSION);
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Wire.write((uint32_t)0);
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Wire.endTransmission();
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Wire.requestFrom(0x66, 5);
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Wire.read();
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Serial.print("New version: ");
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while (Wire.available()) {
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Serial.print((char)Wire.read());
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}
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Serial.println();
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}
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void loop() {
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// put your main code here, to run repeatedly:
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}

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