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USB Sabertooth Packet Serial Library for Arduino
Control your USB-enabled Sabertooth with reliable Packet Serial.
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3.Advanced/Checksum/Checksum.ino
Changes from CRC to Checksum mode.
// Checksum Sample for USB Sabertooth Packet Serial
// Copyright (c) 2012-2013 Dimension Engineering LLC
// See license.txt for license details.
#include <USBSabertooth.h>
// This sample changes the type of error detection that is done.
// It uses checksums to achieve a faster update rate than the Sweep sample.
//
// The tradeoffs are as follows:
// | Checksum | CRC |
// |-----------------------------------|------------|-----------|
// | Command Size | 8 bytes | 10 bytes |
// | Max Command Rate at 9600 Baud | 120 cmd/s | 96 cmd/s |
// | Detectable Bit Flips (Worst-Case) | 1 (HD=2) | 5 (HD=6) |
// |-----------------------------------|------------|-----------|
//
// If you want to, you can require the use of CRC-protected commands
// with DEScribe. Go to DEScribe's Serial tab to find this option.
//
// This tab also lets you change the serial baud rate. Increasing the
// baud rate is, in most situations, a better way to increase the max
// command rate than weakening error detection.
USBSabertooth ST(C, 128);
void setup()
{
SabertoothTXPinSerial.begin(9600);
ST.useChecksum(); // ST.useCRC(); is the default.
}
void loop()
{
int power;
// Ramp motor 1 from -2047 to 2047 (full reverse to full forward),
// waiting 9 ms (1/111th of a second) per step.
for (power = -2047; power <= 2047; power += 8)
{
ST.motor(1, power);
delay(9);
}
// Now go back the way we came.
for (power = 2047; power >= -2047; power -= 8)
{
ST.motor(1, power);
delay(9);
}
}