Birdy YAP
Packetized interface with sabertooth motor controller
Dependents: Camera_Gimbal_Tracking
Sabertooth.cpp@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 | /** |
| bediyap | 0:8ad928968f9e | 36 | * Includes |
| bediyap | 0:8ad928968f9e | 37 | */ |
| bediyap | 0:8ad928968f9e | 38 | #include "Sabertooth.h" |
| bediyap | 0:8ad928968f9e | 39 | |
| bediyap | 0:8ad928968f9e | 40 | Sabertooth::Sabertooth(PinName Tx, int address, int baudrate) : _sabertoothserial(Tx, NC) { |
| bediyap | 0:8ad928968f9e | 41 | |
| bediyap | 0:8ad928968f9e | 42 | _Address = address; |
| bediyap | 0:8ad928968f9e | 43 | _sabertoothserial.baud(baudrate); |
| bediyap | 0:8ad928968f9e | 44 | // Initialize Current Speed |
| bediyap | 0:8ad928968f9e | 45 | _CurrentSpeed[A] = 0; |
| bediyap | 0:8ad928968f9e | 46 | _CurrentSpeed[B] = 0; |
| bediyap | 0:8ad928968f9e | 47 | |
| bediyap | 0:8ad928968f9e | 48 | } |
| bediyap | 0:8ad928968f9e | 49 | |
| bediyap | 0:8ad928968f9e | 50 | void Sabertooth::InitializeCom(void){ |
| bediyap | 0:8ad928968f9e | 51 | wait(2); // wait for sabertooth to initialized |
| bediyap | 0:8ad928968f9e | 52 | _sabertoothserial.putc(START_CHARACTER); |
| bediyap | 0:8ad928968f9e | 53 | } |
| bediyap | 0:8ad928968f9e | 54 | |
| bediyap | 0:8ad928968f9e | 55 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 56 | void Sabertooth::SetSpeedMotorA(int speed) |
| bediyap | 0:8ad928968f9e | 57 | { |
| bediyap | 0:8ad928968f9e | 58 | SetMotorSpeed(A, speed); |
| bediyap | 0:8ad928968f9e | 59 | } |
| bediyap | 0:8ad928968f9e | 60 | |
| bediyap | 0:8ad928968f9e | 61 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 62 | void Sabertooth::SetSpeedMotorB(int speed) |
| bediyap | 0:8ad928968f9e | 63 | { |
| bediyap | 0:8ad928968f9e | 64 | SetMotorSpeed(B, speed); |
| bediyap | 0:8ad928968f9e | 65 | } |
| bediyap | 0:8ad928968f9e | 66 | |
| bediyap | 0:8ad928968f9e | 67 | |
| bediyap | 0:8ad928968f9e | 68 | void Sabertooth::SetMotorSpeed(int motor,int speed){ |
| bediyap | 0:8ad928968f9e | 69 | |
| bediyap | 0:8ad928968f9e | 70 | speed = ClipSpeed(speed); |
| bediyap | 0:8ad928968f9e | 71 | _CurrentSpeed[motor] = speed; |
| bediyap | 0:8ad928968f9e | 72 | int motorCommandStart = (motor == 0 ? 0 : 4); |
| bediyap | 0:8ad928968f9e | 73 | if (speed >= 0) |
| bediyap | 0:8ad928968f9e | 74 | { |
| bediyap | 0:8ad928968f9e | 75 | // forward |
| bediyap | 0:8ad928968f9e | 76 | Send(motorCommandStart + 0, speed); |
| bediyap | 0:8ad928968f9e | 77 | } |
| bediyap | 0:8ad928968f9e | 78 | else |
| bediyap | 0:8ad928968f9e | 79 | { |
| bediyap | 0:8ad928968f9e | 80 | // backwards |
| bediyap | 0:8ad928968f9e | 81 | Send(motorCommandStart + 1, -speed); |
| bediyap | 0:8ad928968f9e | 82 | } |
| bediyap | 0:8ad928968f9e | 83 | |
| bediyap | 0:8ad928968f9e | 84 | } |
| bediyap | 0:8ad928968f9e | 85 | |
| bediyap | 0:8ad928968f9e | 86 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 87 | int Sabertooth::GetCommandedSpeedA() |
| bediyap | 0:8ad928968f9e | 88 | { |
| bediyap | 0:8ad928968f9e | 89 | return _CurrentSpeed[A]; |
| bediyap | 0:8ad928968f9e | 90 | } |
| bediyap | 0:8ad928968f9e | 91 | |
| bediyap | 0:8ad928968f9e | 92 | // Valid speed is between -127 and +127 |
| bediyap | 0:8ad928968f9e | 93 | int Sabertooth::GetCommandedSpeedB() |
| bediyap | 0:8ad928968f9e | 94 | { |
| bediyap | 0:8ad928968f9e | 95 | return _CurrentSpeed[B]; |
| bediyap | 0:8ad928968f9e | 96 | } |
| bediyap | 0:8ad928968f9e | 97 | |
| bediyap | 0:8ad928968f9e | 98 | void Sabertooth::ShutdownMotors(void){ |
| bediyap | 0:8ad928968f9e | 99 | _CurrentSpeed[A] = 0; |
| bediyap | 0:8ad928968f9e | 100 | _CurrentSpeed[B] = 0; |
| bediyap | 0:8ad928968f9e | 101 | SetSpeedMotorA(_CurrentSpeed[A]); |
| bediyap | 0:8ad928968f9e | 102 | SetSpeedMotorB(_CurrentSpeed[B]); |
| bediyap | 0:8ad928968f9e | 103 | } |
| bediyap | 0:8ad928968f9e | 104 | |
| bediyap | 0:8ad928968f9e | 105 | |
| bediyap | 0:8ad928968f9e | 106 | int Sabertooth::ClipSpeed(int speed) |
| bediyap | 0:8ad928968f9e | 107 | { |
| bediyap | 0:8ad928968f9e | 108 | if (speed < -127) |
| bediyap | 0:8ad928968f9e | 109 | { |
| bediyap | 0:8ad928968f9e | 110 | return -127; |
| bediyap | 0:8ad928968f9e | 111 | } |
| bediyap | 0:8ad928968f9e | 112 | if (speed > 127) |
| bediyap | 0:8ad928968f9e | 113 | { |
| bediyap | 0:8ad928968f9e | 114 | return 127; |
| bediyap | 0:8ad928968f9e | 115 | } |
| bediyap | 0:8ad928968f9e | 116 | return speed; |
| bediyap | 0:8ad928968f9e | 117 | } |
| bediyap | 0:8ad928968f9e | 118 | |
| bediyap | 0:8ad928968f9e | 119 | |
| bediyap | 0:8ad928968f9e | 120 | void Sabertooth::Send(int command, int value) |
| bediyap | 0:8ad928968f9e | 121 | { |
| bediyap | 0:8ad928968f9e | 122 | int tmp; |
| bediyap | 0:8ad928968f9e | 123 | _sabertoothserial.putc(_Address); |
| bediyap | 0:8ad928968f9e | 124 | _sabertoothserial.putc(command); |
| bediyap | 0:8ad928968f9e | 125 | _sabertoothserial.putc(value); |
| bediyap | 0:8ad928968f9e | 126 | tmp = _Address+command+value; |
| bediyap | 0:8ad928968f9e | 127 | tmp = tmp & 0x7F; |
| bediyap | 0:8ad928968f9e | 128 | _sabertoothserial.putc(tmp); |
| bediyap | 0:8ad928968f9e | 129 | } |