Diff: Sabertooth.h

Revision:

0:70797f033fe0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sabertooth.h	Mon Feb 20 11:10:08 2017 +0000
@@ -0,0 +1,158 @@
+/*
+Arduino Library for SyRen/Sabertooth Packet Serial
+Copyright (c) 2012-2013 Dimension Engineering LLC
+http://www.dimensionengineering.com/arduino
+
+Permission to use, copy, modify, and/or distribute this software for any
+purpose with or without fee is hereby granted, provided that the above
+copyright notice and this permission notice appear in all copies.
+
+THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
+SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
+RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE
+USE OR PERFORMANCE OF THIS SOFTWARE.
+*/
+
+/*
+* Ported to mbed by Litan Virgil, 2017
+* I added some features that I found useful.
+* Also I removed "const" methods
+*/
+
+#ifndef _SABERTOOTH_H_
+#define _SABERTOOTH_H_
+
+#include "mbed.h"
+
+#define START_CHARACTER 0xAA
+
+class Sabertooth {
+
+public:
+  /*!
+  Initializes a new instance of the Sabertooth class.
+  The driver address and the TX serial pin used is set to the value given, and the baudrate
+  \param tx The TX pin used.
+  \param address The driver address.
+  \param baudrate The baurate of the serial port.
+  */
+    Sabertooth(PinName tx, uint8_t address, int baudrate);
+
+  /*
+  Initializes the comunication eith the driver
+  */
+    void initializeComunication(void);
+    /*!
+    Sets the power of motor 1.
+    \param power The power, between -127 and 127.
+    */
+    void motor(int power);
+    /*!
+    Sets the power of the specified motor.
+    \param motor The motor number, 1 or 2.
+    \param power The power, between -127 and 127.
+    */
+    void motor(uint8_t motor, int power);
+    /*!
+    Sets the driving power.
+    \param power The power, between -127 and 127.
+    */
+    void drive(int power);
+    /*!
+    Sets the turning power.
+    \param power The power, between -127 and 127.
+    */
+    void turn(int power);
+    /*!
+    Stops.
+    */
+    void stop();
+    /*!
+    sets the speed of each motor
+    \param aPower The power for motor a
+    \param bPower The power of motor b
+    */
+    void go(int aPower, int bPower);
+    /*!
+    sets the drive and the turn power
+        the driver must receive both the drive and turn commands in order to
+        apply them to the motors
+    \param drivePower The power for driving
+    \param turnPower The power for turning
+    */
+    void goDT(int drivePower, int turnPower);
+    /*!
+    sets the speed of each motor for a limitet amount of time
+    \param aPower The power for motor a
+    \param bPower The power of motor b
+    \param secs The amount of time after which the motors Stops
+    */
+    void go(int aSpeed, int bSpeed, float secs);
+    /*!
+    sets the drive and the turn power for a limited amount of time
+        the driver must receive both the drive and turn commands in order to
+        apply them to the motors
+    \param drivePower The power for driving
+    \param turnPower The power for turning
+    \param secs The amount of time after which the motors Stops
+    */
+    void goDT(int drivePower, int turnPower, float secs);
+    /*!
+    Sets the minimum voltage.
+    \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.
+    */
+    void setMinVoltage(uint8_t value);
+    /*!
+    Sets the maximum voltage.
+    Maximum voltage is stored in EEPROM, so changes persist between power cycles.
+    \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.
+    */
+    void setMaxVoltage(uint8_t value);
+    /*!
+    Sets the deadband.
+    Deadband is stored in EEPROM, so changes persist between power cycles.
+    \param value The deadband value.
+                 Motor powers in the range [-deadband, deadband] will be considered in the deadband, and will
+                 not prevent the driver from entering nor cause the driver to leave an idle brake state.
+                 0 resets to the default, which is 3.
+    */
+    void setDeadband(uint8_t value);
+    /*!
+    Sets the ramping.
+    Ramping is stored in EEPROM, so changes persist between power cycles.
+    \param value The ramping value. Consult the user manual for possible values.
+    */
+    void setRamping(uint8_t value);
+    /*!
+    Sets the serial timeout.
+    \param milliseconds The maximum time in milliseconds between packets. If this time is exceeded,
+                        the driver will stop the motors. This value is rounded up to the nearest 100 milliseconds.
+                        This library assumes the command value is in units of 100 milliseconds. This is true for
+                        most drivers, but not all. Check the packet serial chapter of the driver's user manual
+                        to make sure.
+    */
+    void setTimeout(int milliseconds);
+    /*!
+    Sets the baud rate.
+    Baud rate is stored in EEPROM, so changes persist between power cycles.
+    \param baudRate The baud rate. This can be 2400, 9600, 19200, 38400, or on some drivers 115200.
+    */
+    void setBaudRate(int baudRate);
+private:
+  /*!
+  Sends a packet serial command to the motor driver.
+  \param command The number of the command.
+  \param value   The command's value.
+  */
+    void command(uint8_t command, uint8_t value);
+    void throttleCommand(uint8_t command, int power);
+    uint8_t _address;
+    Serial _sabertoothserial;
+    Timeout timeOff;
+};
+
+#endif
+