New Motor Version

examples/Master/Master.ino

@@ -1,54 +1,119 @@
 #include <I2CMotor.h>
+#include <Wire.h>
 
-// User can change these pins as needed:
+// Define I2C pins and slave addresses
 #define SDA_PIN 8
 #define SCL_PIN 3
-#define I2C_FREQ 100000
+#define INITIAL_SLAVE_ADDR 0x08
+#define NEW_SLAVE_ADDR     0x10
 
-I2CMotor motor(SDA_PIN, SCL_PIN, I2C_FREQ);
+I2CMotor motor(SDA_PIN, SCL_PIN);
+
+// Scan I2C bus for motor controllers and print their info
+void scanI2CBusForMotors() {
+    Serial.println("Scanning I2C bus for motor controllers...");
+    for (uint8_t addr = 1; addr < 127; addr++) {
+        Wire.beginTransmission(addr);
+        uint8_t error = Wire.endTransmission();
+        if (error == 0) {
+            // If device ACKs, try to identify it
+            Wire.beginTransmission(addr);
+            Wire.write('i');
+            if (Wire.endTransmission() == 0) {
+                Wire.requestFrom(addr, 48);
+                String id;
+                while (Wire.available()) {
+                    char c = Wire.read();
+                    if (c == '\0') break;
+                    id += c;
+                }
+                if (id.length() && id.indexOf("GENERIC") >= 0) {
+                    Serial.print("Found motor controller at 0x");
+                    Serial.print(addr, HEX);
+                    Serial.print(": ");
+                    Serial.println(id);
+                }
+            }
+        }
+        delay(5);
+    }
+    Serial.println("Scan complete.");
+}
+
+// Send the command to change the slave's I2C address
+void setSlaveAddress(uint8_t currentAddr, uint8_t newAddr) {
+    Wire.beginTransmission(currentAddr);
+    Wire.write(0x01);      // CMD_SET_ADDR
+    Wire.write(newAddr);   // New address
+    Wire.endTransmission();
+    Serial.print("Sent address change command to 0x");
+    Serial.print(currentAddr, HEX);
+    Serial.print(". New address should be 0x");
+    Serial.println(newAddr, HEX);
+}
 
 void setup() {
     Serial.begin(115200);
+    delay(2000); // Wait for serial and slave to boot
+
+    // Initialize I2C and motor library
+    Wire.begin(SDA_PIN, SCL_PIN);
     motor.begin();
+    motor.setAddress(INITIAL_SLAVE_ADDR);
 
-    if (!motor.found()) {
-        Serial.println("No motor controller found. Halting.");
-        while (1);
-    }
+    // 1. Set device name
+    motor.setDeviceName("TestMotor");
+    delay(200);
 
-    motor.identify();
+    // 2. Identify device
+    String id = motor.identify();
+    Serial.print("Identify: "); Serial.println(id);
+    delay(200);
 
-    // Set device name and min/max PWM
-    motor.setDeviceName("FM");
-    motor.setMinMax(40, 255);
+    // 3. Control Motor 1: 80% speed, forward
+    motor.motorControl(1, 80, 0);
+    delay(2000);
 
-    Serial.println("All tests complete.");
+    // 4. Control Motor 2: 60% speed, reverse
+    motor.motorControl(2, 60, 1);
+    delay(2000);
+
+    // 5. Control both motors: A 100% forward, B 100% reverse
+    motor.bothMotorsControl(100, 0, 100, 1);
+    delay(2000);
+
+    // 6. Stop all motors
+    motor.stopAllMotors();
+    delay(1000);
+
+    // 7. All stop (emergency stop)
+    motor.allStop();
+    delay(1000);
+
+    // 8. Scan I2C bus for motor controllers
+    scanI2CBusForMotors();
+
+    // 9. Change slave address
+    setSlaveAddress(INITIAL_SLAVE_ADDR, NEW_SLAVE_ADDR);
+    Serial.println("Waiting for slave to reboot with new address...");
+    delay(2000); // Give time for slave to reboot
+
+    // 10. Use the new address for all further commands
+    motor.setAddress(NEW_SLAVE_ADDR);
+
+    // 11. Identify device at new address
+    String id2 = motor.identify();
+    Serial.print("Identify at new address: "); Serial.println(id2);
+
+    // 12. Run a test at new address (Motor 1, 50% forward)
+    motor.motorControl(1, 50, 0);
+    delay(2000);
+
+    // 13. Stop all motors at new address
+    motor.stopAllMotors();
+    delay(1000);
 }
 
 void loop() {
-    // Set direction forward and test speeds
-    motor.setMotorDirection(1, 1); // Motor 1, forward
-    motor.setMotorSpeed(1, 50);
-    delay(2000);
-    motor.setMotorSpeed(1, 60);
-    delay(2000);
-    motor.setMotorSpeed(1, 80);
-    delay(2000);
-    motor.setMotorSpeed(1, 100);
-    delay(2000);
-
-    // Set direction backward and test speeds
-    motor.setMotorDirection(1, 2); // Motor 1, backward
-    motor.setMotorSpeed(1, 50);
-    delay(2000);
-    motor.setMotorSpeed(1, 60);
-    delay(2000);
-    motor.setMotorSpeed(1, 80);
-    delay(2000);
-    motor.setMotorSpeed(1, 100);
-    delay(2000);
-
-    // Stop
-    motor.emergencyStop();
-    delay(2000);
+    // Nothing here
 }