70 lines
3.0 KiB
C++
70 lines
3.0 KiB
C++
// Tank-Style Sweep 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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// Mixed mode is for tank-style diff-drive robots.
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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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// This sample uses the mixed mode (diff-drive) commands, which require two motors
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// and hence do not work on a SyRen.
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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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ST.drive(0); // The Sabertooth won't act on mixed mode packet serial commands until
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ST.turn(0); // it has received power levels for BOTH throttle and turning, since it
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// mixes the two together to get diff-drive power levels for both motors.
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}
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// The SLOW ramp here is turning, and the FAST ramp is throttle.
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// If that's the opposite of what you're seeing, swap M2A and M2B.
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void loop()
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{
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int power;
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// Don't turn. Ramp from going backwards to going forwards, waiting 20 ms (1/50th of a second) per value.
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for (power = -127; power <= 127; power ++)
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{
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ST.drive(power);
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delay(20);
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}
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// Now, let's use a power level of 20 (out of 127) forward.
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// This way, our turning will have a radius.
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ST.drive(20);
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// Ramp turning from full left to full right SLOWLY by waiting 50 ms (1/20th of a second) per value.
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for (power = -127; power <= 127; power ++)
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{
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ST.turn(power);
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delay(50);
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}
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// Now stop turning, and stop driving.
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ST.turn(0);
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ST.drive(0);
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// Wait a bit. This is so you can catch your robot if you want to. :-)
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delay(5000);
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}
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