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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/SharedLine/SharedLine.ino
Communicates with three Sabertooth motor drivers using a shared TX/S1 wire.
// Shared Line Sample for USB Sabertooth Packet Serial
// Copyright (c) 2012-2013 Dimension Engineering LLC
// See license.txt for license details.
#include <USBSabertooth.h>
// Up to 8 Sabertooth/SyRen motor drivers can share the same S1 line.
// This sample uses three: address 128 and 129 on ST1[0] and ST1[2],
// and address 130 on ST2.
//
// To change the address of a USB Sabertooth motor driver, go to the
// Serial tab in DEScribe. DEScribe can be downloaded from
// http://www.dimensionengineering.com/describe
USBSabertooth ST2(C, 130);
void setup()
{
SabertoothTXPinSerial.begin(9600);
}
void loop()
{
// ST1[0] (address 128) has power 800 (of 2047 max) on M1,
// ST1[1] (address 129) has power 1000 (of 2047 max) on M2, and
// ST2 (address 130) we'll do tank-style and have it drive 300 and turn right 800.
// Do this for 5 seconds.
ST1[0].motor(1, 800);
ST1[1].motor(2, 1000);
ST2.drive(300);
ST2.turn(800);
delay(5000);
// And now let's stop for 5 seconds, except address 130 -- we'll let it stop and turn left...
ST1[0].motor(1, 0);
ST1[1].motor(2, 0);
ST2.drive(0);
ST2.turn(-600);
delay(5000);
}