47 lines
2.3 KiB
C++
47 lines
2.3 KiB
C++
// Jolty Sample for Packet Serial
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// Copyright (c) 2012 Dimension Engineering LLC
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// See license.txt for license details.
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#include <Sabertooth.h>
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Sabertooth ST(128); // The Sabertooth is on address 128. We'll name its object ST.
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// If you've set up your Sabertooth on a different address, of course change
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// that here. For how to configure address, etc. see the DIP Switch Wizard for
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// Sabertooth - http://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm
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// SyRen - http://www.dimensionengineering.com/datasheets/SyrenDIPWizard/start.htm
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// Be sure to select Packetized Serial Mode for use with this library.
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//
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// On that note, you can use this library for SyRen just as easily.
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// The diff-drive commands (drive, turn) do not work on a SyRen, of course, but it will respond correctly
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// if you command motor 1 to do something (ST.motor(1, ...)), just like a Sabertooth.
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//
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// In this sample, hardware serial TX connects to S1.
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// See the SoftwareSerial example in 3.Advanced for how to use other pins.
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void setup()
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{
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SabertoothTXPinSerial.begin(9600); // 9600 is the default baud rate for Sabertooth packet serial.
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ST.autobaud(); // Send the autobaud command to the Sabertooth controller(s).
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// NOTE: *Not all* Sabertooth controllers need this command.
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// It doesn't hurt anything, but V2 controllers use an
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// EEPROM setting (changeable with the function setBaudRate) to set
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// the baud rate instead of detecting with autobaud.
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//
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// If you have a 2x12, 2x25 V2, 2x60 or SyRen 50, you can remove
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// the autobaud line and save yourself two seconds of startup delay.
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}
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void loop()
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{
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ST.motor(1, 127); // Go forward at full power.
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delay(2000); // Wait 2 seconds.
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ST.motor(1, 0); // Stop.
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delay(2000); // Wait 2 seconds.
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ST.motor(1, -127); // Reverse at full power.
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delay(2000); // Wait 2 seconds.
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ST.motor(1, 0); // Stop.
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delay(2000);
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}
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