|
USB Sabertooth Packet Serial Library for Arduino
Control your USB-enabled Sabertooth with reliable Packet Serial.
|
1.Basics/Simplest/Simplest.ino
Goes in one direction, stops, and then goes in the other direction.
// Simplest Sample for USB Sabertooth Packet Serial
// Copyright (c) 2012-2013 Dimension Engineering LLC
// See license.txt for license details.
#include <USBSabertooth.h>
// 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.
//
// The USBSabertooth library exposes features that only exist on USB-enabled Sabertooth motor drivers, such as
// 12-bit motor outputs, power outputs, control over freewheeling, motor current read-back, and User Mode variables.
// If you do not need these features, and want your code to be compatible with all Sabertooth/SyRen motor drivers,
// including those that are not USB-enabled, use the Sabertooth library instead.
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.motor(1, 2047); // Go forward at full power.
delay(2000); // Wait 2 seconds.
ST.motor(1, 0); // Stop.
delay(2000); // Wait 2 seconds.
ST.motor(1, -2047); // Reverse at full power.
delay(2000); // Wait 2 seconds.
ST.motor(1, 0); // Stop.
delay(2000);
}