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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/Sweep/Sweep.ino
Sweeps from full reverse to full forward and then from full forward to full reverse.
// Sweep 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()
{
int power;
// Ramp motor 1 from -2047 to 2047 (full reverse to full forward),
// waiting 20 ms (1/50th of a second) per step.
for (power = -2047; power <= 2047; power += 16)
{
ST.motor(1, power);
delay(20);
}
// Now go back the way we came.
for (power = 2047; power >= -2047; power -= 16)
{
ST.motor(1, power); // Tip: Typing ST.motor(power) does the same thing as ST.motor(1, power).
delay(20); // If you often use only one motor, this alternative can save you typing.
}
}