Support Nano motor carrier and update PID behaviour

examples/Flasher/Flasher.ino

@@ -1,5 +1,5 @@
 /*
-  STANDALONE FIRMWARE UPDATE FOR MKR Motor Shiuld
+  STANDALONE FIRMWARE UPDATE FOR Arduino Motor Carrier
 
   To generate a new firmware, compile D11-Firmware with target MKRMotorShield, 4KB bootloader, LTO enabled, pinmap complete
   and execute
@@ -8,9 +8,14 @@
 */
 
 #include "Wire.h"
-#include "fw.h"
 #include "ArduinoMotorCarrier.h"
 
+#ifdef ARDUINO_SAMD_NANO_33_IOT
+#include "fw_nano.h"
+#else
+#include "fw_mkr.h"
+#endif
+
 #define I2C_ADDRESS 0x09
 
 void setDataRunning(int cmd, uint8_t target, int data) {
@@ -52,6 +57,9 @@ void setup() {
     Serial.println("Reset D11");
     setDataRunning(RESET, 0, 0);
     delay(10);
+  } else {
+    // TODO: on NanoMotorCarrier we have the change to forcefully reset the D11; do it now if it is unresponsive
+
   }
 
   // reset running D11

examples/Nano/DCMotorTest/DCMotorTest.ino

@@ -0,0 +1,97 @@
+#include <ArduinoMotorCarrier.h>
+#define INTERRUPT_PIN 6
+
+//Variable to store the battery voltage
+static int batteryVoltage;
+
+//Variable to change the motor speed and direction
+static int duty = 0;
+
+void setup()
+{
+  //Serial port initialization
+  Serial.begin(115200);
+  //while (!Serial);
+
+  //Establishing the communication with the motor shield
+  if (controller.begin())
+  {
+    Serial.print("MKR Motor Shield connected, firmware version ");
+    Serial.println(controller.getFWVersion());
+  }
+  else
+  {
+    Serial.println("Couldn't connect! Is the red led blinking? You may need to update the firmware with FWUpdater sketch");
+    while (1);
+  }
+
+  // Reboot the motor controller; brings every value back to default
+  Serial.println("reboot");
+  controller.reboot();
+  delay(500);
+
+  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.
+  M1.setDuty(dutyInit);
+  M2.setDuty(dutyInit);
+  M3.setDuty(dutyInit);
+  M4.setDuty(dutyInit);
+  Serial.print("Duty init: ");
+  Serial.println(dutyInit);
+  //  int duty2 = dutyInit * 16777215 / 100;
+  //  Serial.print("Conversion formula: ");
+  //  Serial.println(duty2);
+  //while (1); //WHILE 1!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! REMOVE!!!!
+}
+
+
+void loop() {
+
+  //Take the battery status
+  //float batteryVoltage = (float)battery.getConverted();
+
+  //Reset to the default values if the battery level is lower than 11V
+  //  if (batteryVoltage < 11)
+  //  {
+  //    Serial.println(" ");
+  //    Serial.println("WARNING: LOW BATTERY");
+  //    Serial.println("ALL SYSTEMS DOWN");
+  //    M1.setDuty(0);
+  //    M2.setDuty(0);
+  //    M3.setDuty(0);
+  //    M4.setDuty(0);
+  //    while (batteryVoltage < 11)
+  //    {
+  //      batteryVoltage = (float)battery.getConverted();
+  //    }
+  //  }
+  //  else
+  //  {
+
+  //Motor test
+  for (duty = -100; duty < 100; duty += 1)
+  {
+    Serial.print("Motor Duty: ");
+    Serial.println(duty);
+    M1.setDuty(duty);
+    M2.setDuty(duty);
+    M3.setDuty(duty);
+    M4.setDuty(duty);
+    delay(10);
+  }
+  for (duty = 100; duty > -100; duty -= 1)
+  {
+    Serial.print("Motor Duty: ");
+    Serial.println(duty);
+    M1.setDuty(duty);
+    M2.setDuty(duty);
+    M3.setDuty(duty);
+    M4.setDuty(duty);
+    delay(10);
+  }
+
+  //Keep active the communication MKR1000 & MKRMotorCarrier
+  //Ping the samd11
+  controller.ping();
+  //wait
+  delay(50);
+}

examples/Nano/EncoderTest/EncoderTest.ino

@@ -0,0 +1,63 @@
+#include <ArduinoMotorCarrier.h>
+#define INTERRUPT_PIN 6
+
+//Variable to store the battery voltage
+static int batteryVoltage;
+
+//Variable to change the motor speed and direction
+static int duty = 0;
+
+void setup()
+{
+  //Establishing the communication with the motor shield
+  if (controller.begin())
+  {
+    Serial.print("MKR Motor Shield connected, firmware version ");
+    Serial.println(controller.getFWVersion());
+  }
+  else
+  {
+    Serial.println("Couldn't connect! Is the red led blinking? You may need to update the firmware with FWUpdater sketch");
+    while (1);
+  }
+
+  //Serial port initialization
+  Serial.begin(115200);
+  while (!Serial);
+
+  // Reboot the motor controller; brings every value back to default
+  Serial.println("reboot");
+  controller.reboot();
+  delay(500);
+
+  // Reset the encoder internal counter to zero (can be set to any initial value)
+  Serial.println("reset counters");
+  encoder1.resetCounter(0);
+  encoder2.resetCounter(0);
+
+  M1.setDuty(30);
+  M2.setDuty(30);
+  M3.setDuty(30);
+  M4.setDuty(30);
+}
+
+
+void loop() {
+
+  //Chose the encoder to use:encoder1(default) or encoder2
+  Serial.print("Encoder1 Pos [counts]: ");
+  Serial.print(encoder1.getRawCount());
+  Serial.print(" Encoder1 vel [counts/sec]: ");
+  Serial.println(encoder1.getCountPerSecond());
+  Serial.print("Encoder2 Pos [counts]: ");
+  Serial.print(encoder2.getRawCount());
+  Serial.print(" Encoder2 vel [counts/sec]: ");
+  Serial.println(encoder2.getCountPerSecond());
+  Serial.println("");
+
+  //Keep active the communication MKR1000 & MKRMotorCarrier
+  //Ping the samd11
+  controller.ping();
+  //wait
+  delay(50);
+}

examples/Nano/IMU_Test/IMU_Test.ino

@@ -0,0 +1,89 @@
+/*
+ ***************************************************************************
+
+    Euler_Streaming.pde - part of sample SW for using BNO055 with Arduino
+
+   (C) All rights reserved by ROBERT BOSCH GMBH
+
+   Copyright (C) 2014 Bosch Sensortec GmbH
+
+ 	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+ **************************************************************************/
+/*	Date: 2014/01/07
+ 	 Revision: 1.2
+
+*/
+
+#include "BNO055_support.h"		//Contains the bridge code between the API and Arduino
+#include <Wire.h>
+
+//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.
+// /* bno055 I2C Address */
+// #define BNO055_I2C_ADDR1                0x28
+// #define BNO055_I2C_ADDR2                0x29
+// #define BNO055_I2C_ADDR                 BNO055_I2C_ADDR2
+
+//Pin assignments as tested on the Arduino Due.
+//Vdd,Vddio : 3.3V
+//GND : GND
+//SDA/SCL : SDA/SCL
+//PSO/PS1 : GND/GND (I2C mode)
+
+//This structure contains the details of the BNO055 device that is connected. (Updated after initialization)
+struct bno055_t myBNO;
+struct bno055_euler myEulerData; //Structure to hold the Euler data
+
+unsigned long lastTime = 0;
+
+void setup() //This code is executed once
+{
+  //Initialize I2C communication
+  Wire.begin();
+
+  //Initialization of the BNO055
+  BNO_Init(&myBNO); //Assigning the structure to hold information about the device
+
+  //Configuration to NDoF mode
+  bno055_set_operation_mode(OPERATION_MODE_NDOF);
+
+  delay(1);
+
+  //Initialize the Serial Port to view information on the Serial Monitor
+  Serial.begin(115200);
+}
+
+void loop() //This code is looped forever
+{
+  if ((millis() - lastTime) >= 100) //To stream at 10Hz without using additional timers
+  {
+    lastTime = millis();
+
+    bno055_read_euler_hrp(&myEulerData);			//Update Euler data into the structure
+
+    Serial.print("Time Stamp: ");				//To read out the Time Stamp
+    Serial.println(lastTime);
+
+    Serial.print("Heading(Yaw): ");				//To read out the Heading (Yaw)
+    Serial.println(float(myEulerData.h) / 16.00);		//Convert to degrees
+
+    Serial.print("Roll: ");					//To read out the Roll
+    Serial.println(float(myEulerData.r) / 16.00);		//Convert to degrees
+
+    Serial.print("Pitch: ");				//To read out the Pitch
+    Serial.println(float(myEulerData.p) / 16.00);		//Convert to degrees
+
+    Serial.println();					//Extra line to differentiate between packets
+  }
+}