Packetized interface with sabertooth motor controller
Dependents: Camera_Gimbal_Tracking
Diff: Sabertooth.h
- Revision:
- 0:8ad928968f9e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sabertooth.h Thu Feb 10 19:57:24 2011 +0000 @@ -0,0 +1,90 @@ +/** + * @author Birdy + * + * @section LICENSE + * + * Copyright (c) 2010 ARM Limited + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * @section DESCRIPTION + * + * Sabertooth motor drivers + * + * Website: + * http://www.dimensionengineering.com/ + * + */ + +#ifndef SABERTOOTH_H +#define SABERTOOTH_H + +/** + * Includes + */ +#include "mbed.h" + +/** + * Defines + */ +#define START_CHARACTER 170 + + +class Sabertooth { + +public: + /** + * Constructor. + * + * @param + */ + // Constructor + Sabertooth(PinName Tx, int address, int baudrate); + + // Initialize Sabertooth + void InitializeCom(void); + + // Valid speed is between -127 and +127 + void SetSpeedMotorA(int speed); + + // Valid speed is between -127 and +127 + void SetSpeedMotorB(int speed); + + void ShutdownMotors(void); + + // Valid speed is between -127 and +127 + int GetCommandedSpeedA(); + + // Valid speed is between -127 and +127 + int GetCommandedSpeedB(); + +private: + enum Motor { A, B }; + int _Address; + int _CurrentSpeed[2]; + Serial _sabertoothserial; // tx, rx + + int ClipSpeed(int speed); + + void Send(int command, int value); + + void SetMotorSpeed(int motor,int speed); +}; + +#endif /* SABERTOOTH_H */ \ No newline at end of file