Lately, I have been working with the MKR ZERO and DXL MKR Shield and I missed the handy 4-Pin UART connector on the OpenCM-904 where I could plug in BT-210/410 receivers and then subsequently use Serial2 to connect the MKR ZERO to a PC or an SBC.
First, on the MKR ZERO, as Serial1 is already used up to control the Dynamixels, I needed to create Serial2 which can be easily done thanks to this handy post from forum.arduino.cc:
Next, the physical connections between the BT-210/410 Pins [ GND, VCC, TXD, RXD ] to the MKR ZERO Pins [ GND, VCC, TXD/D0, RXD/D1 ] are done as per picture below:
Lastly, I wanted Serial2 to have the RC-100 packet functionalities in addition to the plain ASCII text printing via Functions print() and println(), so I adapted the codes found in RC100.h and RC100.cpp (codes created for OpenCM-904 board) , see screenshot below for RC100.cpp:
into an Arduino sketch shown below:
This sketch will unpack the 6-bytes Remocon Packet and reconstruct the actual DataReceived in the same way used for the OpenCM-904 board.
Below is a screenshot at run time for Arduino IDE + its Serial Monitor (COM10) + TASK 2 Output Monitor tool (COM17) - so that I can use the Virtual RC-100 interface to send Remocon Packets from the PC to the MKR ZERO:
BTW, a note for @Tech_Support , for some reasons TASK 2 Output Monitor works very well for this project, but TASK 3 Output Monitor just would not connect to the BT-210 on the same PC - for reasons unclear to me.