44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
// Shared Line 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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// Up to 8 Sabertooth/SyRen motor drivers can share the same S1 line.
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// This sample uses three: address 128 and 129 on ST1[0] and ST1[2],
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// and address 130 on ST2.
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Sabertooth ST1[2] = { Sabertooth(128), Sabertooth(129) };
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Sabertooth ST2(130);
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void setup()
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{
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SabertoothTXPinSerial.begin(9600);
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Sabertooth::autobaud(SabertoothTXPinSerial); // Autobaud is for the whole serial line -- you don't need to do
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// it for each individual motor driver. This is the version of
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// the autobaud command that is not tied to a particular
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// Sabertooth object.
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// See the examples in 1.Basics for information on whether you
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// need this line at all.
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}
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void loop()
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{
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// ST1[0] (address 128) has power 50 (of 127 max) on M1,
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// ST1[1] (address 129) has power 60 (of 127 max) on M2, and
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// ST2 (address 130) we'll do tank-style and have it drive 20 and turn right 50.
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// Do this for 5 seconds.
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ST1[0].motor(1, 50);
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ST1[1].motor(2, 60);
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ST2.drive(20);
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ST2.turn(50);
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delay(5000);
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// And now let's stop for 5 seconds, except address 130 -- we'll let it stop and turn left...
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ST1[0].motor(1, 0);
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ST1[1].motor(2, 0);
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ST2.drive(0);
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ST2.turn(-40);
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delay(5000);
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}
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