// Sweep Sample for Packet Serial
// Copyright (c) 2012 Dimension Engineering LLC
// See license.txt for license details.

#include <Sabertooth.h>

Sabertooth ST(128); // The Sabertooth is on address 128. 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 address, etc. see the DIP Switch Wizard for
                    //   Sabertooth - http://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm
                    //   SyRen      - http://www.dimensionengineering.com/datasheets/SyrenDIPWizard/start.htm
                    // Be sure to select Packetized Serial Mode for use with this library.
                    //
                    // On that note, you can use this library for SyRen just as easily.
                    // The diff-drive commands (drive, turn) do not work on a SyRen, of course, but it will respond correctly
                    // if you command motor 1 to do something (ST.motor(1, ...)), just like a Sabertooth.
                    //
                    // In this sample, hardware serial TX connects to S1.
                    // See the SoftwareSerial example in 3.Advanced for how to use other pins.

void setup()
{
  SabertoothTXPinSerial.begin(9600); // 9600 is the default baud rate for Sabertooth packet serial.
  ST.autobaud(); // Send the autobaud command to the Sabertooth controller(s).
                 // NOTE: *Not all* Sabertooth controllers need this command.
                 //       It doesn't hurt anything, but V2 controllers use an
                 //       EEPROM setting (changeable with the function setBaudRate) to set
                 //       the baud rate instead of detecting with autobaud.
                 //
                 //       If you have a 2x12, 2x25 V2, 2x60 or SyRen 50, you can remove
                 //       the autobaud line and save yourself two seconds of startup delay.
}

void loop()
{
  int power;
  
  // Ramp motor 1 from -127 to 127 (full reverse to full forward),
  // waiting 20 ms (1/50th of a second) per value.
  for (power = -127; power <= 127; power ++)
  {
    ST.motor(1, power);
    delay(20);
  }
  
  // Now go back the way we came.
  for (power = 127; power >= -127; power --)
  {
    ST.motor(1, power); // Tip for SyRen users: Typing ST.motor(power) does the same thing as ST.motor(1, power).
    delay(20);          //                      Since SyRen doesn't have a motor 2, this alternative can save you typing.
  }
}