Litan Virgil / Sabertooth

Library for Sabertooth motor driver ported from the oficial Arduino library. Packetized Serial Mode

I ported the official arduino library for Sabertooth dual motor drivers. In the porting process I did not used const methods as the original library does, but the functionality stays the same. I also added some methods that I find useful. According to the documentation of the driver this code should be compatible with SyRen drivers.

Sabertooth.h@1:013fa8604413, 2017-09-21 (annotated)

Committer:
Elefantul_umilit
Date:
Thu Sep 21 12:32:29 2017 +0300
Revision:
1:013fa8604413
Parent:
0:70797f033fe0 
solved bug in setBaudRate. Now the baud is updated on the mcu as well

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Elefantul_umilit 0:70797f033fe0 1 /*
Elefantul_umilit 0:70797f033fe0 2 Arduino Library for SyRen/Sabertooth Packet Serial
Elefantul_umilit 0:70797f033fe0 3 Copyright (c) 2012-2013 Dimension Engineering LLC
Elefantul_umilit 0:70797f033fe0 4 http://www.dimensionengineering.com/arduino
Elefantul_umilit 0:70797f033fe0 5
Elefantul_umilit 0:70797f033fe0 6 Permission to use, copy, modify, and/or distribute this software for any
Elefantul_umilit 0:70797f033fe0 7 purpose with or without fee is hereby granted, provided that the above
Elefantul_umilit 0:70797f033fe0 8 copyright notice and this permission notice appear in all copies.
Elefantul_umilit 0:70797f033fe0 9
Elefantul_umilit 0:70797f033fe0 10 THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
Elefantul_umilit 0:70797f033fe0 11 WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
Elefantul_umilit 0:70797f033fe0 12 MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
Elefantul_umilit 0:70797f033fe0 13 SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
Elefantul_umilit 0:70797f033fe0 14 RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
Elefantul_umilit 0:70797f033fe0 15 NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE
Elefantul_umilit 0:70797f033fe0 16 USE OR PERFORMANCE OF THIS SOFTWARE.
Elefantul_umilit 0:70797f033fe0 17 */
Elefantul_umilit 0:70797f033fe0 18
Elefantul_umilit 0:70797f033fe0 19 /*
Elefantul_umilit 0:70797f033fe0 20 * Ported to mbed by Litan Virgil, 2017
Elefantul_umilit 0:70797f033fe0 21 * I added some features that I found useful.
Elefantul_umilit 0:70797f033fe0 22 * Also I removed "const" methods
Elefantul_umilit 0:70797f033fe0 23 */
Elefantul_umilit 0:70797f033fe0 24
Elefantul_umilit 0:70797f033fe0 25 #ifndef _SABERTOOTH_H_
Elefantul_umilit 0:70797f033fe0 26 #define _SABERTOOTH_H_
Elefantul_umilit 0:70797f033fe0 27
Elefantul_umilit 0:70797f033fe0 28 #include "mbed.h"
Elefantul_umilit 0:70797f033fe0 29
Elefantul_umilit 0:70797f033fe0 30 #define START_CHARACTER 0xAA
Elefantul_umilit 0:70797f033fe0 31
Elefantul_umilit 0:70797f033fe0 32 class Sabertooth {
Elefantul_umilit 0:70797f033fe0 33
Elefantul_umilit 0:70797f033fe0 34 public:
Elefantul_umilit 0:70797f033fe0 35 /*!
Elefantul_umilit 0:70797f033fe0 36 Initializes a new instance of the Sabertooth class.
Elefantul_umilit 0:70797f033fe0 37 The driver address and the TX serial pin used is set to the value given, and the baudrate
Elefantul_umilit 0:70797f033fe0 38 \param tx The TX pin used.
Elefantul_umilit 0:70797f033fe0 39 \param address The driver address.
Elefantul_umilit 0:70797f033fe0 40 \param baudrate The baurate of the serial port.
Elefantul_umilit 0:70797f033fe0 41 */
Elefantul_umilit 0:70797f033fe0 42 Sabertooth(PinName tx, uint8_t address, int baudrate);
Elefantul_umilit 0:70797f033fe0 43
Elefantul_umilit 0:70797f033fe0 44 /*
Elefantul_umilit 0:70797f033fe0 45 Initializes the comunication eith the driver
Elefantul_umilit 0:70797f033fe0 46 */
Elefantul_umilit 0:70797f033fe0 47 void initializeComunication(void);
Elefantul_umilit 0:70797f033fe0 48 /*!
Elefantul_umilit 0:70797f033fe0 49 Sets the power of motor 1.
Elefantul_umilit 0:70797f033fe0 50 \param power The power, between -127 and 127.
Elefantul_umilit 0:70797f033fe0 51 */
Elefantul_umilit 0:70797f033fe0 52 void motor(int power);
Elefantul_umilit 0:70797f033fe0 53 /*!
Elefantul_umilit 0:70797f033fe0 54 Sets the power of the specified motor.
Elefantul_umilit 0:70797f033fe0 55 \param motor The motor number, 1 or 2.
Elefantul_umilit 0:70797f033fe0 56 \param power The power, between -127 and 127.
Elefantul_umilit 0:70797f033fe0 57 */
Elefantul_umilit 0:70797f033fe0 58 void motor(uint8_t motor, int power);
Elefantul_umilit 0:70797f033fe0 59 /*!
Elefantul_umilit 0:70797f033fe0 60 Sets the driving power.
Elefantul_umilit 0:70797f033fe0 61 \param power The power, between -127 and 127.
Elefantul_umilit 0:70797f033fe0 62 */
Elefantul_umilit 0:70797f033fe0 63 void drive(int power);
Elefantul_umilit 0:70797f033fe0 64 /*!
Elefantul_umilit 0:70797f033fe0 65 Sets the turning power.
Elefantul_umilit 0:70797f033fe0 66 \param power The power, between -127 and 127.
Elefantul_umilit 0:70797f033fe0 67 */
Elefantul_umilit 0:70797f033fe0 68 void turn(int power);
Elefantul_umilit 0:70797f033fe0 69 /*!
Elefantul_umilit 0:70797f033fe0 70 Stops.
Elefantul_umilit 0:70797f033fe0 71 */
Elefantul_umilit 0:70797f033fe0 72 void stop();
Elefantul_umilit 0:70797f033fe0 73 /*!
Elefantul_umilit 0:70797f033fe0 74 sets the speed of each motor
Elefantul_umilit 0:70797f033fe0 75 \param aPower The power for motor a
Elefantul_umilit 0:70797f033fe0 76 \param bPower The power of motor b
Elefantul_umilit 0:70797f033fe0 77 */
Elefantul_umilit 0:70797f033fe0 78 void go(int aPower, int bPower);
Elefantul_umilit 0:70797f033fe0 79 /*!
Elefantul_umilit 0:70797f033fe0 80 sets the drive and the turn power
Elefantul_umilit 0:70797f033fe0 81 the driver must receive both the drive and turn commands in order to
Elefantul_umilit 0:70797f033fe0 82 apply them to the motors
Elefantul_umilit 0:70797f033fe0 83 \param drivePower The power for driving
Elefantul_umilit 0:70797f033fe0 84 \param turnPower The power for turning
Elefantul_umilit 0:70797f033fe0 85 */
Elefantul_umilit 0:70797f033fe0 86 void goDT(int drivePower, int turnPower);
Elefantul_umilit 0:70797f033fe0 87 /*!
Elefantul_umilit 0:70797f033fe0 88 sets the speed of each motor for a limitet amount of time
Elefantul_umilit 0:70797f033fe0 89 \param aPower The power for motor a
Elefantul_umilit 0:70797f033fe0 90 \param bPower The power of motor b
Elefantul_umilit 0:70797f033fe0 91 \param secs The amount of time after which the motors Stops
Elefantul_umilit 0:70797f033fe0 92 */
Elefantul_umilit 0:70797f033fe0 93 void go(int aSpeed, int bSpeed, float secs);
Elefantul_umilit 0:70797f033fe0 94 /*!
Elefantul_umilit 0:70797f033fe0 95 sets the drive and the turn power for a limited amount of time
Elefantul_umilit 0:70797f033fe0 96 the driver must receive both the drive and turn commands in order to
Elefantul_umilit 0:70797f033fe0 97 apply them to the motors
Elefantul_umilit 0:70797f033fe0 98 \param drivePower The power for driving
Elefantul_umilit 0:70797f033fe0 99 \param turnPower The power for turning
Elefantul_umilit 0:70797f033fe0 100 \param secs The amount of time after which the motors Stops
Elefantul_umilit 0:70797f033fe0 101 */
Elefantul_umilit 0:70797f033fe0 102 void goDT(int drivePower, int turnPower, float secs);
Elefantul_umilit 0:70797f033fe0 103 /*!
Elefantul_umilit 0:70797f033fe0 104 Sets the minimum voltage.
Elefantul_umilit 0:70797f033fe0 105 \param value The voltage. The units of this value are driver-specific and are specified in the Packet Serial chapter of the driver's user manual.
Elefantul_umilit 0:70797f033fe0 106 */
Elefantul_umilit 0:70797f033fe0 107 void setMinVoltage(uint8_t value);
Elefantul_umilit 0:70797f033fe0 108 /*!
Elefantul_umilit 0:70797f033fe0 109 Sets the maximum voltage.
Elefantul_umilit 0:70797f033fe0 110 Maximum voltage is stored in EEPROM, so changes persist between power cycles.
Elefantul_umilit 0:70797f033fe0 111 \param value The voltage. The units of this value are driver-specific and are specified in the Packet Serial chapter of the driver's user manual.
Elefantul_umilit 0:70797f033fe0 112 */
Elefantul_umilit 0:70797f033fe0 113 void setMaxVoltage(uint8_t value);
Elefantul_umilit 0:70797f033fe0 114 /*!
Elefantul_umilit 0:70797f033fe0 115 Sets the deadband.
Elefantul_umilit 0:70797f033fe0 116 Deadband is stored in EEPROM, so changes persist between power cycles.
Elefantul_umilit 0:70797f033fe0 117 \param value The deadband value.
Elefantul_umilit 0:70797f033fe0 118 Motor powers in the range [-deadband, deadband] will be considered in the deadband, and will
Elefantul_umilit 0:70797f033fe0 119 not prevent the driver from entering nor cause the driver to leave an idle brake state.
Elefantul_umilit 0:70797f033fe0 120 0 resets to the default, which is 3.
Elefantul_umilit 0:70797f033fe0 121 */
Elefantul_umilit 0:70797f033fe0 122 void setDeadband(uint8_t value);
Elefantul_umilit 0:70797f033fe0 123 /*!
Elefantul_umilit 0:70797f033fe0 124 Sets the ramping.
Elefantul_umilit 0:70797f033fe0 125 Ramping is stored in EEPROM, so changes persist between power cycles.
Elefantul_umilit 0:70797f033fe0 126 \param value The ramping value. Consult the user manual for possible values.
Elefantul_umilit 0:70797f033fe0 127 */
Elefantul_umilit 0:70797f033fe0 128 void setRamping(uint8_t value);
Elefantul_umilit 0:70797f033fe0 129 /*!
Elefantul_umilit 0:70797f033fe0 130 Sets the serial timeout.
Elefantul_umilit 0:70797f033fe0 131 \param milliseconds The maximum time in milliseconds between packets. If this time is exceeded,
Elefantul_umilit 0:70797f033fe0 132 the driver will stop the motors. This value is rounded up to the nearest 100 milliseconds.
Elefantul_umilit 0:70797f033fe0 133 This library assumes the command value is in units of 100 milliseconds. This is true for
Elefantul_umilit 0:70797f033fe0 134 most drivers, but not all. Check the packet serial chapter of the driver's user manual
Elefantul_umilit 0:70797f033fe0 135 to make sure.
Elefantul_umilit 0:70797f033fe0 136 */
Elefantul_umilit 0:70797f033fe0 137 void setTimeout(int milliseconds);
Elefantul_umilit 0:70797f033fe0 138 /*!
Elefantul_umilit 0:70797f033fe0 139 Sets the baud rate.
Elefantul_umilit 0:70797f033fe0 140 Baud rate is stored in EEPROM, so changes persist between power cycles.
Elefantul_umilit 0:70797f033fe0 141 \param baudRate The baud rate. This can be 2400, 9600, 19200, 38400, or on some drivers 115200.
Elefantul_umilit 0:70797f033fe0 142 */
Elefantul_umilit 0:70797f033fe0 143 void setBaudRate(int baudRate);
Elefantul_umilit 0:70797f033fe0 144 private:
Elefantul_umilit 0:70797f033fe0 145 /*!
Elefantul_umilit 0:70797f033fe0 146 Sends a packet serial command to the motor driver.
Elefantul_umilit 0:70797f033fe0 147 \param command The number of the command.
Elefantul_umilit 0:70797f033fe0 148 \param value The command's value.
Elefantul_umilit 0:70797f033fe0 149 */
Elefantul_umilit 0:70797f033fe0 150 void command(uint8_t command, uint8_t value);
Elefantul_umilit 0:70797f033fe0 151 void throttleCommand(uint8_t command, int power);
Elefantul_umilit 0:70797f033fe0 152 uint8_t _address;
Elefantul_umilit 0:70797f033fe0 153 Serial _sabertoothserial;
Elefantul_umilit 0:70797f033fe0 154 Timeout timeOff;
Elefantul_umilit 0:70797f033fe0 155 };
Elefantul_umilit 0:70797f033fe0 156
Elefantul_umilit 0:70797f033fe0 157 #endif
Elefantul_umilit 0:70797f033fe0 158