Birdy YAP
Packetized interface with sabertooth motor controller
Dependents: Camera_Gimbal_Tracking
Sabertooth.h@0:8ad928968f9e, 2011-02-10 (annotated)
- Committer:
- bediyap
- Date:
- Thu Feb 10 19:57:24 2011 +0000
- Revision:
- 0:8ad928968f9e
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bediyap | 0:8ad928968f9e | 1 | /** |
| bediyap | 0:8ad928968f9e | 2 | * @author Birdy |
| bediyap | 0:8ad928968f9e | 3 | * |
| bediyap | 0:8ad928968f9e | 4 | * @section LICENSE |
| bediyap | 0:8ad928968f9e | 5 | * |
| bediyap | 0:8ad928968f9e | 6 | * Copyright (c) 2010 ARM Limited |
| bediyap | 0:8ad928968f9e | 7 | * |
| bediyap | 0:8ad928968f9e | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| bediyap | 0:8ad928968f9e | 9 | * of this software and associated documentation files (the "Software"), to deal |
| bediyap | 0:8ad928968f9e | 10 | * in the Software without restriction, including without limitation the rights |
| bediyap | 0:8ad928968f9e | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| bediyap | 0:8ad928968f9e | 12 | * copies of the Software, and to permit persons to whom the Software is |
| bediyap | 0:8ad928968f9e | 13 | * furnished to do so, subject to the following conditions: |
| bediyap | 0:8ad928968f9e | 14 | * |
| bediyap | 0:8ad928968f9e | 15 | * The above copyright notice and this permission notice shall be included in |
| bediyap | 0:8ad928968f9e | 16 | * all copies or substantial portions of the Software. |
| bediyap | 0:8ad928968f9e | 17 | * |
| bediyap | 0:8ad928968f9e | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| bediyap | 0:8ad928968f9e | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| bediyap | 0:8ad928968f9e | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| bediyap | 0:8ad928968f9e | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| bediyap | 0:8ad928968f9e | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| bediyap | 0:8ad928968f9e | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| bediyap | 0:8ad928968f9e | 24 | * THE SOFTWARE. |
| bediyap | 0:8ad928968f9e | 25 | * |
| bediyap | 0:8ad928968f9e | 26 | * @section DESCRIPTION |
| bediyap | 0:8ad928968f9e | 27 | * |
| bediyap | 0:8ad928968f9e | 28 | * Sabertooth motor drivers |
| bediyap | 0:8ad928968f9e | 29 | * |
| bediyap | 0:8ad928968f9e | 30 | * Website: |
| bediyap | 0:8ad928968f9e | 31 | * http://www.dimensionengineering.com/ |
| bediyap | 0:8ad928968f9e | 32 | * |
| bediyap | 0:8ad928968f9e | 33 | */ |
| bediyap | 0:8ad928968f9e | 34 | |
| bediyap | 0:8ad928968f9e | 35 | #ifndef SABERTOOTH_H |
| bediyap | 0:8ad928968f9e | 36 | #define SABERTOOTH_H |
| bediyap | 0:8ad928968f9e | 37 | |
| bediyap | 0:8ad928968f9e | 38 | /** |
| bediyap | 0:8ad928968f9e | 39 | * Includes |
| bediyap | 0:8ad928968f9e | 40 | */ |
| bediyap | 0:8ad928968f9e | 41 | #include "mbed.h" |
| bediyap | 0:8ad928968f9e | 42 | |
| bediyap | 0:8ad928968f9e | 43 | /** |
| bediyap | 0:8ad928968f9e | 44 | * Defines |
| bediyap | 0:8ad928968f9e | 45 | */ |
| bediyap | 0:8ad928968f9e | 46 | #define START_CHARACTER 170 |
| bediyap | 0:8ad928968f9e | 47 | |
| bediyap | 0:8ad928968f9e | 48 | |
| bediyap | 0:8ad928968f9e | 49 | class Sabertooth { |
| bediyap | 0:8ad928968f9e | 50 | |
| bediyap | 0:8ad928968f9e | 51 | public: |
| bediyap | 0:8ad928968f9e | 52 | /** |
| bediyap | 0:8ad928968f9e | 53 | * Constructor. |
| bediyap | 0:8ad928968f9e | 54 | * |
| bediyap | 0:8ad928968f9e | 55 | * @param |
| bediyap | 0:8ad928968f9e | 56 | */ |
| bediyap | 0:8ad928968f9e | 57 | // Constructor |
| bediyap | 0:8ad928968f9e | 58 | Sabertooth(PinName Tx, int address, int baudrate); |
| bediyap | 0:8ad928968f9e | 59 | |
| bediyap | 0:8ad928968f9e | 60 | // Initialize Sabertooth |
| bediyap | 0:8ad928968f9e | 61 | void InitializeCom(void); |
| bediyap | 0:8ad928968f9e | 62 | |
| bediyap | 0:8ad928968f9e | 63 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 64 | void SetSpeedMotorA(int speed); |
| bediyap | 0:8ad928968f9e | 65 | |
| bediyap | 0:8ad928968f9e | 66 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 67 | void SetSpeedMotorB(int speed); |
| bediyap | 0:8ad928968f9e | 68 | |
| bediyap | 0:8ad928968f9e | 69 | void ShutdownMotors(void); |
| bediyap | 0:8ad928968f9e | 70 | |
| bediyap | 0:8ad928968f9e | 71 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 72 | int GetCommandedSpeedA(); |
| bediyap | 0:8ad928968f9e | 73 | |
| bediyap | 0:8ad928968f9e | 74 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 75 | int GetCommandedSpeedB(); |
| bediyap | 0:8ad928968f9e | 76 | |
| bediyap | 0:8ad928968f9e | 77 | private: |
| bediyap | 0:8ad928968f9e | 78 | enum Motor { A, B }; |
| bediyap | 0:8ad928968f9e | 79 | int _Address; |
| bediyap | 0:8ad928968f9e | 80 | int _CurrentSpeed[2]; |
| bediyap | 0:8ad928968f9e | 81 | Serial _sabertoothserial; // tx, rx |
| bediyap | 0:8ad928968f9e | 82 | |
| bediyap | 0:8ad928968f9e | 83 | int ClipSpeed(int speed); |
| bediyap | 0:8ad928968f9e | 84 | |
| bediyap | 0:8ad928968f9e | 85 | void Send(int command, int value); |
| bediyap | 0:8ad928968f9e | 86 | |
| bediyap | 0:8ad928968f9e | 87 | void SetMotorSpeed(int motor,int speed); |
| bediyap | 0:8ad928968f9e | 88 | }; |
| bediyap | 0:8ad928968f9e | 89 | |
| bediyap | 0:8ad928968f9e | 90 | #endif /* SABERTOOTH_H */ |