sabertooth simplified serial library for arduino · sabertooth simplified serial library for...
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MainPage Classes Files ExamplesClassList ClassIndex ClassMembers
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
ClassList
Herearetheclasses,structs,unionsandinterfaceswithbriefdescriptions:
SabertoothSimplified ControlsaSabertoothmotordriverrunninginSimplifiedSerialmode
MainPage Classes Files ExamplesClassList ClassIndex ClassMembers
PublicMemberFunctions|Listofallmembers
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
SabertoothSimplifiedClassReference
ControlsaSabertoothmotordriverrunninginSimplifiedSerialmode.More...
PublicMemberFunctions SabertoothSimplified()
SabertoothSimplified(Print&port)
void motor(intpower)void motor(bytemotor,intpower)void drive(intpower)void turn(intpower)void stop()
DetailedDescription
ControlsaSabertoothmotordriverrunninginSimplifiedSerialmode.
Examples:SimpleExample/SimpleExample.ino,SoftwareSerial/SoftwareSerial.ino,Sweep/Sweep.ino,andTankStyleSweep.ino.
Constructor&DestructorDocumentation
SabertoothSimplified::SabertoothSimplified ( )
InitializesanewinstanceoftheSabertoothSimplifiedclass.TheArduinoTXserialportisused.
SabertoothSimplified::SabertoothSimplified ( Print& port )
InitializesanewinstanceoftheSabertoothSimplifiedclass.Thespecifiedserialportisused.
Parametersport Theporttouse.
MemberFunctionDocumentation
voidSabertoothSimplified::drive ( int power )
Setsthedrivingpower.
Parameterspower Thepower,between-127and127.
Examples:TankStyleSweep.ino.
voidSabertoothSimplified::motor ( int power )
Setsthepowerofmotor1.
Parameterspower Thepower,between-127and127.
Examples:SimpleExample/SimpleExample.ino,andSweep/Sweep.ino.
voidSabertoothSimplified::motor ( bytemotor,int power)
Setsthepowerofthespecifiedmotor.
Parametersmotor Themotornumber,1or2.power Thepower,between-127and127.
voidSabertoothSimplified::stop ( )
Stops.
voidSabertoothSimplified::turn ( int power )
Setstheturningpower.
Parameterspower Thepower,between-127and127.
Examples:TankStyleSweep.ino.
MainPage Classes Files ExamplesClassList ClassIndex ClassMembers
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
ClassIndex
S
S
SabertoothSimplified
S
MainPage Classes Files ExamplesClassList ClassIndex ClassMembers
All Functions
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
Hereisalistofalldocumentedclassmemberswithlinkstotheclassdocumentationforeachmember:
drive():SabertoothSimplifiedmotor():SabertoothSimplifiedSabertoothSimplified():SabertoothSimplifiedstop():SabertoothSimplifiedturn():SabertoothSimplified
MainPage Classes Files ExamplesClassList ClassIndex ClassMembers
All Functions
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
drive():SabertoothSimplifiedmotor():SabertoothSimplifiedSabertoothSimplified():SabertoothSimplifiedstop():SabertoothSimplifiedturn():SabertoothSimplified
MainPage Classes Files ExamplesFileList
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
FileList
Hereisalistofalldocumentedfileswithbriefdescriptions:[detaillevel1 2]
SabertoothSimplifiedSabertoothSimplified.h
MainPage Classes Files ExamplesSabertoothSimplified
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
SabertoothSimplifiedDirectoryReference
Filesfile SabertoothSimplified.cppfile SabertoothSimplified.h[code]
MainPage Classes Files ExamplesFileList
SabertoothSimplified
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
SabertoothSimplified.h
1 /*
2 ArduinoLibraryforSabertoothSimplified
Serial
3 Copyright(c)2012-2013DimensionEngineering
LLC
4 http://www.dimensionengineering.com/arduino
5
6 Permissiontouse,copy,modify,and/or
distributethissoftwareforany
7 purposewithorwithoutfeeishereby
granted,providedthattheabove
8 copyrightnoticeandthispermissionnotice
appearinallcopies.
9
10 THESOFTWAREISPROVIDED"ASIS"ANDTHE
AUTHORDISCLAIMSALLWARRANTIES
11 WITHREGARDTOTHISSOFTWAREINCLUDINGALL
IMPLIEDWARRANTIESOF
12 MERCHANTABILITYANDFITNESS.INNOEVENT
SHALLTHEAUTHORBELIABLEFORANY
13 SPECIAL,DIRECT,INDIRECT,ORCONSEQUENTIAL
DAMAGESORANYDAMAGESWHATSOEVER
14 RESULTINGFROMLOSSOFUSE,DATAORPROFITS,
WHETHERINANACTIONOFCONTRACT,
15 NEGLIGENCEOROTHERTORTIOUSACTION,ARISING
OUTOFORINCONNECTIONWITHTHE
16 USEORPERFORMANCEOFTHISSOFTWARE.
17 */
18
19 #ifndefSabertoothSimplified_h
20 #defineSabertoothSimplified_h
21
22 #ifdefined(ARDUINO)&&ARDUINO>=100
23 #include<Arduino.h>
24 #else
25 #include<WProgram.h>
26 #endif
27
28 #ifdefined(USBCON)
29 #defineSabertoothTXPinSerialSerial1//
ArduinoLeonardohasTX->1onSerial1,not
Serial.
30 #else
31 #defineSabertoothTXPinSerialSerial
32 #endif
33 #defineSyRenTXPinSerial
SabertoothTXPinSerial
34
39 classSabertoothSimplified
40 {
41 public:
46 SabertoothSimplified();
47
53 SabertoothSimplified(Print&port);
54
55 public:
60 voidmotor(intpower);
61
67 voidmotor(bytemotor,intpower);
68
73 voiddrive(intpower);
74
79 voidturn(intpower);
80
84 voidstop();
85
86 private:
87 voidmixedMode(booleanenable);
88 voidmixedUpdate();
89 voidraw(bytemotor,intpower);
90
91 private:
92 boolean_mixed;
93 int_mixedDrive,_mixedTurn;
94 boolean_mixedDriveSet,_mixedTurnSet;
95 Print&_port;
96 };
97
98 #endif
MainPage Classes Files Examples
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
Examples
Hereisalistofallexamples:
SimpleExample/SimpleExample.inoSoftwareSerial/SoftwareSerial.inoSweep/Sweep.inoTankStyleSweep.ino
MainPage Classes Files Examples
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
SimpleExample/SimpleExample.ino
Goesinonedirection,stops,andthengoesintheotherdirection.
//SimpleExampleSample
//Copyright(c)2012DimensionEngineeringLLC
//Seelicense.txtforlicensedetails.
#include<SabertoothSimplified.h>
SabertoothSimplifiedST;//We'llnamethe
SabertoothobjectST.
//ForhowtoconfiguretheSabertooth,seethe
DIPSwitchWizardfor
//
http://www.dimensionengineering.com/datasheets/
SabertoothDIPWizard/start.htm
//BesuretoselectSimplifiedSerialModefor
usewiththislibrary.
//Thissampleusesabaudrateof9600.
//
//Connectionstomake:
//ArduinoTX->1->SabertoothS1
//ArduinoGND->Sabertooth0V
//ArduinoVIN->Sabertooth5V(OPTIONAL,
ifyouwanttheSabertoothtopowerthe
Arduino)
//
//IfyouwanttouseapinotherthanTX->1,see
theSoftwareSerialexample.
voidsetup()
{
SabertoothTXPinSerial.begin(9600);//Thisisthe
baudrateyouchosewiththeDIPswitches.
}
voidloop()
{
ST.motor(1,127);//Goforwardatfullpower.
delay(2000);//Wait2seconds.
ST.motor(1,0);//Stop.
delay(2000);//Wait2seconds.
ST.motor(1,-127);//Reverseatfullpower.
delay(2000);//Wait2seconds.
ST.motor(1,0);//Stop.
delay(2000);
}
MainPage Classes Files Examples
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
SoftwareSerial/SoftwareSerial.ino
UsesapinotherthanTXtoconnecttoS1.
//SoftwareSerialSample
//Copyright(c)2012DimensionEngineeringLLC
//Seelicense.txtforlicensedetails.
#include<SoftwareSerial.h>
#include<SabertoothSimplified.h>
SoftwareSerialSWSerial(NOT_A_PIN,11);//RXonno
pin(unused),TXonpin11(toS1).
SabertoothSimplifiedST(SWSerial);//UseSWSerial
astheserialport.
voidsetup()
{
SWSerial.begin(9600);
}
voidloop()
{
intpower;
//Rampfrom-127to127(fullreversetofull
forward),waiting20ms(1/50thofasecond)
pervalue.
for(power=-127;power<=127;power++)
{
ST.motor(1,power);
delay(20);
}
//Nowgobackthewaywecame.
for(power=127;power>=-127;power--)
{
ST.motor(1,power);
delay(20);
}
}
MainPage Classes Files Examples
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
Sweep/Sweep.ino
Sweepsfromfullreversetofullforwardandthenfromfullforwardtofullreverse.
//SweepSample
//Copyright(c)2012DimensionEngineeringLLC
//Seelicense.txtforlicensedetails.
#include<SabertoothSimplified.h>
SabertoothSimplifiedST;//We'llnamethe
SabertoothobjectST.
//ForhowtoconfiguretheSabertooth,seethe
DIPSwitchWizardfor
//
http://www.dimensionengineering.com/datasheets/
SabertoothDIPWizard/start.htm
//BesuretoselectSimplifiedSerialModefor
usewiththislibrary.
//Thissampleusesabaudrateof9600.
//
//Connectionstomake:
//ArduinoTX->1->SabertoothS1
//ArduinoGND->Sabertooth0V
//ArduinoVIN->Sabertooth5V(OPTIONAL,
ifyouwanttheSabertoothtopowerthe
Arduino)
//
//IfyouwanttouseapinotherthanTX->1,see
theSoftwareSerialexample.
voidsetup()
{
SabertoothTXPinSerial.begin(9600);//Thisisthe
baudrateyouchosewiththeDIPswitches.
}
voidloop()
{
intpower;
//Rampmotor1andmotor2from-127to127(full
reversetofullforward),
//waiting20ms(1/50thofasecond)pervalue.
for(power=-127;power<=127;power++)
{
ST.motor(1,power);
ST.motor(2,power);
delay(20);
}
//Nowgobackthewaywecame.
for(power=127;power>=-127;power--)
{
ST.motor(1,power);
ST.motor(2,power);
delay(20);
}
}
MainPage Classes Files Examples
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
TankStyleSweep.ino
Sweepsvariousrangesinmixed(rover)mode.
//Tank-StyleSweepSample
//Copyright(c)2012DimensionEngineeringLLC
//Seelicense.txtforlicensedetails.
#include<SabertoothSimplified.h>
//Mixedmodeisfortank-stylediff-driverobots.
//OnlyPacketSerialactuallyhasmixedmode,so
thisSimplifiedSeriallibrary
//emulatesit(toalloweasyswitchingbetweenthe
twolibraries).
SabertoothSimplifiedST;//We'llnamethe
SabertoothobjectST.
//ForhowtoconfiguretheSabertooth,seethe
DIPSwitchWizardfor
//
http://www.dimensionengineering.com/datasheets/
SabertoothDIPWizard/start.htm
//BesuretoselectSimplifiedSerialModefor
usewiththislibrary.
//Thissampleusesabaudrateof9600.
//
//Connectionstomake:
//ArduinoTX->1->SabertoothS1
//ArduinoGND->Sabertooth0V
//ArduinoVIN->Sabertooth5V(OPTIONAL,
ifyouwanttheSabertoothtopowerthe
Arduino)
//
//IfyouwanttouseapinotherthanTX->1,see
theSoftwareSerialexample.
voidsetup()
{
SabertoothTXPinSerial.begin(9600);//Thisisthe
baudrateyouchosewiththeDIPswitches.
ST.drive(0);//TheSabertoothwon'tactonmixed
modeuntil
ST.turn(0);//ithasreceivedpowerlevelsfor
BOTHthrottleandturning,sinceit
//mixesthetwotogethertogetdiff-drivepower
levelsforbothmotors.
//So,wesetbothtozeroinitially.
}
//Mixedmodetips:
//drive()shouldgoforwardandback,turn()
shouldgorightandleft.
//Ifthisisreversed,swapM2AandM2B.
//Positiveondrive()shouldgoforward,
negativeshouldgobackward.
//Ifthisisreversed,swapAandBonbothM1
andM2.
//Positiveonturn()shouldgoright,negative
shouldgoleft.
//Ifthisisreversed,swapM1andM2.
//Inthissample,theSLOWsweep(left-to-right)
hereisturning,
//andtheFASTsweep(backwards-to-forwards)is
throttle.
voidloop()
{
intpower;
//Don'tturn.Rampfromgoingbackwardstogoing
forwards,waiting20ms(1/50thofasecond)
pervalue.
for(power=-127;power<=127;power++)
{
ST.drive(power);
delay(20);
}
//Now,let'suseapowerlevelof20(outof127)
forward.
//Thisway,ourturningwillhavearadius.
Mostly,thecommand
//isjusttodemonstrateyoucanusedrive()and
turn()atthesametime.
ST.drive(20);
//Rampturningfromfulllefttofullright
SLOWLYbywaiting50ms(1/20thofasecond)
pervalue.
for(power=-127;power<=127;power++)
{
ST.turn(power);
delay(50);
}
//Nowstopturning,andstopdriving.
ST.turn(0);
ST.drive(0);
//Waitabit.Thisissoyoucancatchyourrobot
ifyouwantto.:-)
delay(5000);
}
MainPage Classes Files ExamplesClassList ClassIndex ClassMembers
SabertoothSimplifiedSerialLibraryforArduinoControlyourSabertoothwithSimplifiedSerial.
SabertoothSimplifiedMemberList
ThisisthecompletelistofmembersforSabertoothSimplified,includingallinheritedmembers.
drive(intpower) SabertoothSimplifiedmotor(intpower) SabertoothSimplifiedmotor(bytemotor,intpower) SabertoothSimplifiedSabertoothSimplified() SabertoothSimplifiedSabertoothSimplified(Print&port) SabertoothSimplifiedstop() SabertoothSimplifiedturn(intpower) SabertoothSimplified
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