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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/TankStyleSweep/TankStyleSweep.ino
Sweeps various ranges in mixed (rover) mode.
// Tank-Style (Diff-Drive) 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
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 step of 16.
for (power = -2047; power <= 2047; power += 16)
{
ST.drive(power);
delay(20);
}
// Now, let's use a power level of 400 (out of 2047) forward.
// This way, our turning will have a radius.
ST.drive(400);
// Ramp turning from full left to full right SLOWLY by waiting 20 ms (1/50th of a second) per step of 4.
for (power = -2047; power <= 2047; power += 4)
{
ST.turn(power);
delay(20);
}
// 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);
}