Sabertooth.h

00001 /**
00002  * @author Birdy
00003  *
00004  * @section LICENSE
00005  *
00006  * Copyright (c) 2010 ARM Limited
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  *
00026  * @section DESCRIPTION
00027  * 
00028  * Sabertooth motor drivers  
00029  *
00030  * Website:
00031  * http://www.dimensionengineering.com/
00032  * 
00033  */
00034 
00035 #ifndef SABERTOOTH_H
00036 #define SABERTOOTH_H
00037 
00038 /**
00039  * Includes
00040  */
00041 #include "mbed.h"
00042 
00043 /**
00044  * Defines
00045  */
00046 #define START_CHARACTER 170
00047 
00048 
00049 class Sabertooth {
00050 
00051 public:
00052       /**
00053      * Constructor.
00054      *
00055      * @param
00056      */
00057      // Constructor
00058     Sabertooth(PinName Tx, int address, int baudrate);
00059 
00060     // Initialize Sabertooth
00061     void InitializeCom(void);
00062     
00063     // Valid speed is between -127 and +127
00064     void SetSpeedMotorA(int speed);
00065     
00066     // Valid speed is between -127 and +127
00067     void SetSpeedMotorB(int speed);
00068     
00069     void ShutdownMotors(void);
00070     
00071     // Valid speed is between -127 and +127
00072     int GetCommandedSpeedA();
00073     
00074     // Valid speed is between -127 and +127
00075     int GetCommandedSpeedB();
00076     
00077 private:
00078     enum Motor { A, B };
00079     int _Address;
00080     int _CurrentSpeed[2];
00081     Serial _sabertoothserial; // tx, rx
00082         
00083     int ClipSpeed(int speed);
00084     
00085     void Send(int command, int value);
00086     
00087     void SetMotorSpeed(int motor,int speed);
00088 };
00089 
00090 #endif /* SABERTOOTH_H */