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.
Diff: Sabertooth.cpp
- Revision:
- 1:013fa8604413
- Parent:
- 0:70797f033fe0
diff -r 70797f033fe0 -r 013fa8604413 Sabertooth.cpp --- a/Sabertooth.cpp Mon Feb 20 11:10:08 2017 +0000 +++ b/Sabertooth.cpp Thu Sep 21 12:32:29 2017 +0300 @@ -127,12 +127,13 @@ switch (baudRate) { case 2400: value = 1; break; - case 9600: default: value = 2; break; + case 9600: default: value = 2; baudRate = 9600; break; case 19200: value = 3; break; case 38400: value = 4; break; case 115200: value = 5; break; } command(15, value); + _sabertoothserial.baud(baudRate); // Sabertooth takes about 200 ms after setting the baud rate to // respond to commands again (it restarts). // So, this 500 ms wait should deal with this.