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