Packetized interface with sabertooth motor controller
Dependents: Camera_Gimbal_Tracking
Sabertooth.h
- Committer:
- bediyap
- Date:
- 2011-02-10
- Revision:
- 0:8ad928968f9e
File content as of revision 0:8ad928968f9e:
/** * @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 */