Diff: Sabertooth.h

Revision:

0:8ad928968f9e

diff -r 000000000000 -r 8ad928968f9e Sabertooth.h
--- /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 */
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