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Merge pull request #25 from arduino-libraries/nano_motor_carrier
Support Nano motor carrier and update PID behaviour
2 parents 5187891 + c32747c commit a4c29bd

28 files changed

+3608
-1033
lines changed

‎examples/Flasher/Flasher.ino

Lines changed: 10 additions & 2 deletions
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/*
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STANDALONE FIRMWARE UPDATE FOR MKR Motor Shiuld
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STANDALONE FIRMWARE UPDATE FOR Arduino Motor Carrier
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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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*/
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#include "Wire.h"
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#include "fw.h"
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#include "ArduinoMotorCarrier.h"
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#ifdef ARDUINO_SAMD_NANO_33_IOT
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#include "fw_nano.h"
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#else
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#include "fw_mkr.h"
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#endif
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#define I2C_ADDRESS 0x09
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void setDataRunning(int cmd, uint8_t target, int data) {
@@ -52,6 +57,9 @@ void setup() {
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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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} else {
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// TODO: on NanoMotorCarrier we have the change to forcefully reset the D11; do it now if it is unresponsive
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}
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// reset running D11

‎examples/Flasher/fw.h

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‎examples/Flasher/fw_mkr.h

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‎examples/Flasher/fw_nano.h

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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/IMU_Test/IMU_Test.ino

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/*
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***************************************************************************
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Euler_Streaming.pde - part of sample SW for using BNO055 with Arduino
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(C) All rights reserved by ROBERT BOSCH GMBH
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Copyright (C) 2014 Bosch Sensortec GmbH
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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**************************************************************************/
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/* Date: 2014/01/07
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Revision: 1.2
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*/
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#include "BNO055_support.h" //Contains the bridge code between the API and Arduino
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#include <Wire.h>
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//The device address is set to BNO055_I2C_ADDR2 in this example. You can change this in the BNO055.h file in the code segment shown below.
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// /* bno055 I2C Address */
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// #define BNO055_I2C_ADDR1 0x28
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// #define BNO055_I2C_ADDR2 0x29
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// #define BNO055_I2C_ADDR BNO055_I2C_ADDR2
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//Pin assignments as tested on the Arduino Due.
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//Vdd,Vddio : 3.3V
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//GND : GND
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//SDA/SCL : SDA/SCL
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//PSO/PS1 : GND/GND (I2C mode)
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//This structure contains the details of the BNO055 device that is connected. (Updated after initialization)
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struct bno055_t myBNO;
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struct bno055_euler myEulerData; //Structure to hold the Euler data
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unsigned long lastTime = 0;
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void setup() //This code is executed once
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{
52+
//Initialize I2C communication
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Wire.begin();
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//Initialization of the BNO055
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BNO_Init(&myBNO); //Assigning the structure to hold information about the device
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//Configuration to NDoF mode
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bno055_set_operation_mode(OPERATION_MODE_NDOF);
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delay(1);
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//Initialize the Serial Port to view information on the Serial Monitor
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Serial.begin(115200);
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}
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void loop() //This code is looped forever
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{
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if ((millis() - lastTime) >= 100) //To stream at 10Hz without using additional timers
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{
71+
lastTime = millis();
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bno055_read_euler_hrp(&myEulerData); //Update Euler data into the structure
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Serial.print("Time Stamp: "); //To read out the Time Stamp
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Serial.println(lastTime);
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Serial.print("Heading(Yaw): "); //To read out the Heading (Yaw)
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Serial.println(float(myEulerData.h) / 16.00); //Convert to degrees
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Serial.print("Roll: "); //To read out the Roll
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Serial.println(float(myEulerData.r) / 16.00); //Convert to degrees
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Serial.print("Pitch: "); //To read out the Pitch
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Serial.println(float(myEulerData.p) / 16.00); //Convert to degrees
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Serial.println(); //Extra line to differentiate between packets
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}
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}

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