MKR Motor Carried Library error

Official Hardware MKR Family MKR Shields
1

Hi everyone,
bought an MKR Motor Carrier Board connected with an MKR WiFi1010.
Including the library in the sketch (tried version 1.0.5 and 1.0.4) cause the compiler to return with this:

Arduino: 1.8.12 (Mac OS X), Board: "Arduino MKR WiFi 1010"

In file included from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorShield.h:22:0,
from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorCarrier.h:1,
from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:3:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/Battery.h:21:7: error: redefinition of 'class mc::Battery'
class Battery {
^~~~~~~
In file included from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:1:0:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/Battery.h:21:7: note: previous definition of 'class mc::Battery'
class Battery {
^~~~~~~
In file included from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:4:0:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/ServoMotor.h:21:7: error: redefinition of 'class mc::ServoMotor'
class ServoMotor {
^~~~~~~~~~
In file included from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorShield.h:24:0,
from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorCarrier.h:1,
from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:3:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/ServoMotor.h:21:7: note: previous definition of 'class mc::ServoMotor'
class ServoMotor {
^~~~~~~~~~
In file included from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:6:0:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/Common.h:17:6: error: multiple definition of 'enum Commands'
enum Commands {
^~~~~~~~
In file included from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorShield.h:26:0,
from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorCarrier.h:1,
from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:3:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/Common.h:17:6: note: previous definition here
enum Commands {
^~~~~~~~
In file included from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:6:0:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/Common.h:47:6: error: multiple definition of 'enum IRQCause'
enum IRQCause {
^~~~~~~~
In file included from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorShield.h:26:0,
from /Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/MKRMotorCarrier.h:1,
from /Users/KuzkaMac/Documents/Arduino/RV12-iS_RPM_Control/RV12-iS_RPM_Control.ino:3:
/Users/KuzkaMac/Documents/Arduino/libraries/MKRMotorCarrier/src/Common.h:47:6: note: previous definition here
enum IRQCause {
^~~~~~~~
exit status 1
Error compiling for board Arduino MKR WiFi 1010.

This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.

Any clue?
Thanks

Giovanni

2

The problem is that Sketch > Include Library > MKRMotorCarrier added #include directives for all the .h files of the library, thus the redefinition errors. You need to remove all those unnecessary #include directives other than the one for MKRMotorCarrier.h. So instead of this:

#include <Battery.h>
#include <Common.h>
#include <DCMotor.h>
#include <Encoder.h>
#include <MKRMotorCarrier.h>
#include <MKRMotorShield.h>
#include <MotorController.h>
#include <PID.h>
#include <ServoMotor.h>

you have only this:

#include <MKRMotorCarrier.h>
3

I forgot to mention that I just submitted a fix for this issue, which has already been merged!
https://github.com/arduino-libraries/MKRMotorCarrier/pull/22
so in the next release of the library this issue will no longer occur.

4

Thanks for your fast reply.

I'm now looking for more infos about analog inputs AIN 1 to AIN 4 but I cannot find any examples.

5

The pinout of the IN1-4 connectors on the MKR Motor Carrier is:

  • GND (denoted by white line on silkscreen)
  • SIG
  • 5V

The connections to the MKR board:

Carrier | MKR board

IN1 | A6
IN2 | A1
IN3 | A5
IN4 | A2

The SIG pins are connected to the analog pins on the MKR board via a level translator. Any voltage from 0-3.3 V on the SIG pin is passed directly to the MKR board's analog pin. Any voltage from 3.3 V to 5 V on the SIG pin is reduced to 3.3 V before being passed to the MKR board's analog pin.

Here's an example that prints the readings on the SIG pins of the IN1-4 connectors to the Serial Monitor or Serial Plotter:

void setup() {
  Serial.begin(9600);
}

void loop() {
  Serial.print(analogRead(A6)); // IN1
  Serial.print(',');
  Serial.print(analogRead(A1)); // IN2
  Serial.print(',');
  Serial.print(analogRead(A5)); // IN3
  Serial.print(',');
  Serial.println(analogRead(A2)); // IN4
}

Let me know if you have any questions.