peixingv2.h

00001 #include "Sabertooth.h"
00002 
00003 Sabertooth front_sb(p13, 128, 9600);
00004 Sabertooth back_sb(p13, 129, 9600);
00005 
00006 void forward(int speed)
00007 {
00008     front_sb.SetSpeedMotorA(speed);
00009     front_sb.SetSpeedMotorB(speed);
00010     back_sb.SetSpeedMotorA(speed);
00011     back_sb.SetSpeedMotorB(speed);
00012 }
00013 
00014 void backward(int speed)
00015 {
00016     front_sb.SetSpeedMotorA(-speed);
00017     front_sb.SetSpeedMotorB(-speed);
00018     back_sb.SetSpeedMotorA(-speed);
00019     back_sb.SetSpeedMotorB(-speed);
00020 }
00021 
00022 void right(int speed)
00023 {
00024     front_sb.SetSpeedMotorA(-speed);
00025     front_sb.SetSpeedMotorB(speed);
00026     back_sb.SetSpeedMotorA(-speed);    
00027     back_sb.SetSpeedMotorB(speed);
00028 }
00029 
00030 void left(int speed)
00031 {
00032     front_sb.SetSpeedMotorA(speed);
00033     front_sb.SetSpeedMotorB(-speed);
00034     back_sb.SetSpeedMotorA(speed);
00035     back_sb.SetSpeedMotorB(-speed);
00036 }
00037 
00038 void turnright(int speed)
00039 {
00040     front_sb.SetSpeedMotorA(-speed);
00041     front_sb.SetSpeedMotorB(speed);
00042     back_sb.SetSpeedMotorA(speed);
00043     back_sb.SetSpeedMotorB(-speed);
00044 }
00045 
00046 void turnleft(int speed)
00047 {
00048     front_sb.SetSpeedMotorA(speed);
00049     front_sb.SetSpeedMotorB(-speed);
00050     back_sb.SetSpeedMotorA(-speed);
00051     back_sb.SetSpeedMotorB(speed);
00052 }
00053 
00054 void stop()
00055 {
00056     front_sb.SetSpeedMotorA(0);
00057     front_sb.SetSpeedMotorB(0);
00058     back_sb.SetSpeedMotorA(0);
00059     back_sb.SetSpeedMotorB(0);
00060 }