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USB Sabertooth Packet Serial Library for Arduino
Control your USB-enabled Sabertooth with reliable Packet Serial.
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1.Basics/Freewheeling/Freewheeling.ino
Goes in one direction, lets the motor freewheel, and then goes in the other direction.
// Freewheeling Sample for USB Sabertooth Packet Serial
// Copyright (c) 2012-2013 Dimension Engineering LLC
// See license.txt for license details.
#include <USBSabertooth.h>
// Instead of braking, this sample lets the motor freewheel.
// See the SoftwareSerial example in 3.Advanced for how to use other pins.
USBSabertooth ST(C, 128); // The USB Sabertooth is on address 128 (unless you've changed it with DEScribe).
// We'll name its object ST.
//
// If you've set up your Sabertooth on a different address, of course change
// that here. For how to configure the Sabertooth, see the DIP Switch Wizard at
// http://www.dimensionengineering.com/datasheets/USBSabertoothDIPWizard/start.htm
// Be sure to select Packet Serial Mode for use with this library.
void setup()
{
SabertoothTXPinSerial.begin(9600); // 9600 is the default baud rate for Sabertooth Packet Serial.
// You can change this with the DEScribe software, available at
// http://www.dimensionengineering.com/describe
}
void loop()
{
ST.freewheel(1, false); // Turn off freewheeling.
ST.motor(1, 2047); // Go forward at full power.
delay(1000); // Wait 1 second.
ST.freewheel(1, true); // Turn on freewheeling.
delay(2000); // Wait 2 seconds.
ST.motor(1, -2047); // Reverse at full power.
ST.freewheel(1, false); // Turn off freewheeling.
delay(1000); // Wait 1 seconds.
ST.freewheel(1, true); // Turn on freewheeling.
delay(2000);
}