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Sabertooth Simplified Serial Library for Arduino
Control your Sabertooth with Simplified Serial.
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TankStyleSweep.ino
Sweeps various ranges in mixed (rover) mode.
// Tank-Style Sweep Sample
// Copyright (c) 2012 Dimension Engineering LLC
// See license.txt for license details.
#include <SabertoothSimplified.h>
// Mixed mode is for tank-style diff-drive robots.
// Only Packet Serial actually has mixed mode, so this Simplified Serial library
// emulates it (to allow easy switching between the two libraries).
// For how to configure the Sabertooth, see the DIP Switch Wizard for
// http://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm
// Be sure to select Simplified Serial Mode for use with this library.
// This sample uses a baud rate of 9600.
//
// Connections to make:
// Arduino TX->1 -> Sabertooth S1
// Arduino GND -> Sabertooth 0V
// Arduino VIN -> Sabertooth 5V (OPTIONAL, if you want the Sabertooth to power the Arduino)
//
// If you want to use a pin other than TX->1, see the SoftwareSerial example.
void setup()
{
SabertoothTXPinSerial.begin(9600); // This is the baud rate you chose with the DIP switches.
// mixes the two together to get diff-drive power levels for both motors.
// So, we set both to zero initially.
}
// Mixed mode tips:
// drive() should go forward and back, turn() should go right and left.
// If this is reversed, swap M2A and M2B.
// Positive on drive() should go forward, negative should go backward.
// If this is reversed, swap A and B on both M1 and M2.
// Positive on turn() should go right, negative should go left.
// If this is reversed, swap M1 and M2.
// In this sample, the SLOW sweep (left-to-right) here is turning,
// and the FAST sweep (backwards-to-forwards) is throttle.
void loop()
{
int power;
// Don't turn. Ramp from going backwards to going forwards, waiting 20 ms (1/50th of a second) per value.
for (power = -127; power <= 127; power ++)
{
ST.drive(power);
delay(20);
}
// Now, let's use a power level of 20 (out of 127) forward.
// This way, our turning will have a radius. Mostly, the command
// is just to demonstrate you can use drive() and turn() at the same time.
ST.drive(20);
// Ramp turning from full left to full right SLOWLY by waiting 50 ms (1/20th of a second) per value.
for (power = -127; power <= 127; power ++)
{
ST.turn(power);
delay(50);
}
// Now stop turning, and stop driving.
ST.turn(0);
ST.drive(0);
// Wait a bit. This is so you can catch your robot if you want to. :-)
delay(5000);
}