Add sabertooth lib, start enabling all motor drive

lib/Sabertooth/examples/2.Settings/Persistent/BaudRate/BaudRate.ino

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+// Set Baud Rate Sample for Packet Serial
+// Copyright (c) 2012 Dimension Engineering LLC
+// See license.txt for license details.
+
+// WARNING: This sample makes changes that will persist between restarts.
+// NOTE: The setBaudRate function will only have an effect on V2 controllers (2x12, 2x25 V2, 2x60, SyRen 50).
+//       Earlier controllers automatically detect the baud rate you choose in Serial.begin
+//       when you call the autobaud function. Autobaud was replaced in V2 controllers for reliability
+//       in the event that the Sabertooth lost power.
+#include <Sabertooth.h>
+
+Sabertooth ST(128);
+
+void setup()
+{
+  // This sample will tell the Sabertooth *at 9600 baud* to *switch to 2400 baud*.
+  // Keep in mind you must send the command to change the baud rate *at the baud rate
+  // the Sabertooth is listening at* (factory default is 9600). After that, if it works,
+  // you will be able to communicate using the new baud rate.
+  //
+  // Options are:
+  //   2400
+  //   9600
+  //   19200
+  //   38400
+  //   115200 (only supported by some devices such as 2X60 -- check the device's datasheet)
+  //
+  // WARNING: The Sabertooth remembers this command between restarts.
+  // To change your Sabertooth back to its default, you must *be at the baud rate you've
+  // set the Sabertooth to*, and then call ST.setBaudRate(9600)
+  SabertoothTXPinSerial.begin(9600);
+  ST.setBaudRate(2400);
+  SabertoothTXPinSerial.end();
+
+  // OK, we're at 2400. Let's talk to the Sabertooth at that speed.
+  SabertoothTXPinSerial.begin(2400);  
+}
+
+void loop()
+{
+  ST.drive(0);
+  ST.turn(20);
+  delay(2000);
+  
+  ST.turn(-20);
+  delay(2000);
+}
+

lib/Sabertooth/examples/2.Settings/Persistent/Deadband/Deadband.ino

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+// Set Deadband Sample for Packet Serial
+// Copyright (c) 2012 Dimension Engineering LLC
+// See license.txt for license details.
+
+// WARNING: This sample makes changes that will persist between restarts AND in all modes.
+#include <Sabertooth.h>
+
+Sabertooth ST(128);
+
+void setup()
+{
+  SabertoothTXPinSerial.begin(9600);
+  ST.autobaud();
+  
+  // This makes the deadband from -20 to 20 (of 127).
+  // If your commands for a motor stay entirely within the deadband for more than
+  // a second, the motor driver will stop the motor.
+  // WARNING: The Sabertooth remembers this command between restarts AND in all modes.
+  // To change your Sabertooth back to its default, call ST.setDeadband(0)
+  ST.setDeadband(20);
+}
+
+void loop()
+{
+  // 50 is greater than 20, so the motor moves.
+  ST.motor(1, 50);
+  delay(5000);
+  
+  // 10 is NOT, so the motor does not move.
+  ST.motor(1, 10);
+  delay(5000);
+}
+

lib/Sabertooth/examples/2.Settings/Persistent/MaxVoltage/MaxVoltage.ino

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+// Set Maximum Voltage Sample for Packet Serial
+// Copyright (c) 2012 Dimension Engineering LLC
+// See license.txt for license details.
+
+// WARNING: This sample makes changes that will persist between restarts AND in all modes.
+//          The values in this sample are specifically for the Sabertooth 2x25, and may
+//          not have the same effect on other models.
+#include <Sabertooth.h>
+
+Sabertooth ST(128);
+
+void setup()
+{
+  SabertoothTXPinSerial.begin(9600);
+  ST.autobaud();
+
+  // See the Packet Serial section of the documentation for what values to use
+  // for the maximum voltage command. It may vary between Sabertooth models
+  // (2x25, 2x60, etc.).
+  //
+  // On a Sabertooth 2x25, the value is (Desired Volts) X 5.12.
+  // In this sample, we'll cap the max voltage before the motor driver does
+  // a hard brake at 14V. For a 12V ATX power supply this might be reasonable --
+  // at 16V they tend to shut off. Here, if the voltage climbs above
+  // 14V due to regenerative braking, the Sabertooth will go into hard brake instead.
+  // While this is occuring, the red Error LED will turn on.
+  //
+  // 14 X 5.12 = 71.68, so we'll go with 71, cutting off slightly below 14V.
+  //
+  // WARNING: This setting persists between power cycles.
+  ST.setMaxVoltage(71);
+}
+
+void loop()
+{
+  ST.motor(1, 50);
+  delay(5000);
+  
+  ST.motor(1, -50);
+  delay(5000);
+}

lib/Sabertooth/examples/2.Settings/Persistent/Ramping/Ramping.ino

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+// Set Ramping Sample for Packet Serial
+// Copyright (c) 2012 Dimension Engineering LLC
+// See license.txt for license details.
+
+// WARNING: This sample makes changes that will persist between restarts AND in all modes.
+#include <Sabertooth.h>
+
+Sabertooth ST(128);
+
+void setup()
+{
+  SabertoothTXPinSerial.begin(9600);
+  ST.autobaud();
+  
+  // See the Sabertooth 2x60 documentation for information on ramping values.
+  // There are three ranges: 1-10 (Fast), 11-20 (Slow), and 21-80 (Intermediate).
+  // The ramping value 14 used here sets a ramp time of 4 seconds for full
+  // forward-to-full reverse.
+  //
+  // 0 turns off ramping. Turning off ramping requires a power cycle.
+  //
+  // WARNING: The Sabertooth remembers this command between restarts AND in all modes.
+  // To change your Sabertooth back to its default, call ST.setRamping(0)
+  ST.setRamping(14);
+}
+
+void loop()
+{
+  // Full forward, both motors.
+  ST.motor(1, 127);
+  ST.motor(2, 127);
+  delay(5000);
+  
+  // Full reverse
+  ST.motor(1, -127);
+  ST.motor(2, -127);
+  delay(5000);
+}
+