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SyRen/Sabertooth Packet Serial Library for Arduino
Control your SyRen or Sabertooth with reliable Packet Serial.
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1.Basics/TankStyleSweep/TankStyleSweep.ino
Sweeps various ranges in mixed (rover) mode.
// Tank-Style Sweep Sample for Packet Serial
// Copyright (c) 2012 Dimension Engineering LLC
// See license.txt for license details.
#include <Sabertooth.h>
// Mixed mode is for tank-style diff-drive robots.
// If you've set up your Sabertooth on a different address, of course change
// that here. For how to configure address, etc. see the DIP Switch Wizard for
// Sabertooth - http://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm
// SyRen - http://www.dimensionengineering.com/datasheets/SyrenDIPWizard/start.htm
// Be sure to select Packetized Serial Mode for use with this library.
//
// This sample uses the mixed mode (diff-drive) commands, which require two motors
// and hence do not work on a SyRen.
//
// In this sample, hardware serial TX connects to S1.
// See the SoftwareSerial example in 3.Advanced for how to use other pins.
void setup()
{
SabertoothTXPinSerial.begin(9600); // 9600 is the default baud rate for Sabertooth packet serial.
ST.autobaud(); // Send the autobaud command to the Sabertooth controller(s).
// NOTE: *Not all* Sabertooth controllers need this command.
// It doesn't hurt anything, but V2 controllers use an
// EEPROM setting (changeable with the function setBaudRate) to set
// the baud rate instead of detecting with autobaud.
//
// If you have a 2x12, 2x25 V2, 2x60 or SyRen 50, you can remove
// the autobaud line and save yourself two seconds of startup delay.
ST.drive(0); // The Sabertooth won't act on mixed mode packet serial commands until
ST.turn(0); // it has received power levels for BOTH throttle and turning, since it
// mixes the two together to get diff-drive power levels for both motors.
}
// The SLOW ramp here is turning, and the FAST ramp is throttle.
// If that's the opposite of what you're seeing, swap M2A and M2B.
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.
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);
}