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diff --git a/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino b/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino
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+++ b/libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino
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+/*
+ All IO Ports
+ 
+ This example goes through all the IO ports on your robot and
+ reads/writes from/to them. Uncomment the different lines inside 
+ the loop to test the different possibilities.
+
+ The TK inputs on the Control Board are multiplexed and therefore 
+ it is not recommended to use them as outputs. The TKD pins on the
+ Control Board as well as the TK pins on the Motor Board go directly
+ to the microcontroller and therefore can be used both as inputs 
+ and outputs.
+ 
+ Circuit:
+ * Arduino Robot
+ 
+ created 1 May 2013
+ by X. Yang
+ modified 12 May 2013
+ by D. Cuartielles
+ 
+ This example is in the public domain
+ */
+
+#include <ArduinoRobot.h>
+
+// use arrays to store the names of the pins to be read
+uint8_t arr[]  = { TK0, TK1, TK2, TK3, TK4, TK5, TK6, TK7 };
+uint8_t arr2[] = { TKD0, TKD1, TKD2, TKD3, TKD4, TKD5 };
+uint8_t arr3[] = { B_TK1, B_TK2, B_TK3, B_TK4 };
+
+void setup(){
+  // initialize the robot
+  Robot.begin();
+
+  // open the serial port to send the information of what you are reading
+  Serial.begin(9600);
+}
+
+void loop(){
+  // read all the TK inputs at the Motor Board as analog 
+  analogReadB_TKs();
+
+  // read all the TK inputs at the Motor Board as digital
+  //digitalReadB_TKs();
+
+  // read all the TK inputs at the Control Board as analog
+  //analogReadTKs();
+
+  // read all the TK inputs at the Control Board as digital
+  //digitalReadTKs();
+
+  // read all the TKD inputs at the Control Board as analog
+  //analogReadTKDs();
+
+  // read all the TKD inputs at the Control Board as digital
+  //digitalReadTKDs();
+
+  // write all the TK outputs at the Motor Board as digital
+  //digitalWriteB_TKs();
+
+  // write all the TKD outputs at the Control Board as digital
+  //digitalWriteTKDs();
+  delay(5);  
+}
+
+// read all TK inputs on the Control Board as analog inputs
+void analogReadTKs() {
+  for(int i=0;i<8;i++) {
+    Serial.print(Robot.analogRead(arr[i]));
+    Serial.print(",");
+  }
+  Serial.println("");
+}
+
+// read all TK inputs on the Control Board as digital inputs
+void digitalReadTKs() {
+  for(int i=0;i<8;i++) {
+    Serial.print(Robot.digitalRead(arr[i]));
+    Serial.print(",");
+  }
+  Serial.println("");
+}
+
+// read all TKD inputs on the Control Board as analog inputs
+void analogReadTKDs() {
+  for(int i=0; i<6; i++) {
+    Serial.print(Robot.analogRead(arr2[i]));
+    Serial.print(",");
+  }
+  Serial.println("");
+}
+
+// read all TKD inputs on the Control Board as digital inputs
+void digitalReadTKDs() {
+  for(int i=0; i<6; i++) {
+    Serial.print(Robot.digitalRead(arr2[i]));
+    Serial.print(",");
+  }
+  Serial.println("");
+}
+
+// write all TKD outputs on the Control Board as digital outputs
+void digitalWriteTKDs() {
+  // turn all the pins on
+  for(int i=0; i<6; i++) {
+    Robot.digitalWrite(arr2[i], HIGH);
+  }
+  delay(500);
+
+  // turn all the pins off
+  for(int i=0; i<6; i++){
+    Robot.digitalWrite(arr2[i], LOW);
+  }
+  delay(500);
+}
+
+// write all TK outputs on the Motor Board as digital outputs
+void digitalWriteB_TKs() {
+  // turn all the pins on
+  for(int i=0; i<4; i++) {
+    Robot.digitalWrite(arr3[i], HIGH);
+  }
+  delay(500);
+
+  // turn all the pins off
+  for(int i=0; i<4; i++) {
+    Robot.digitalWrite(arr3[i], LOW);
+  }
+  delay(500);
+}
+
+// read all TK inputs on the Motor Board as analog inputs
+void analogReadB_TKs() {
+  for(int i=0; i<4; i++) {
+    Serial.print(Robot.analogRead(arr3[i]));
+    Serial.print(",");
+  }
+  Serial.println("");
+}
+
+// read all TKD inputs on the Motor Board as digital inputs
+void digitalReadB_TKs() {
+  for(int i=0; i<4; i++) {
+    Serial.print(Robot.digitalRead(arr3[i]));
+    Serial.print(",");
+  }
+  Serial.println("");
+}