eljer chua / Sabertoothaaa

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of Sabertooth by Birdy YAP

Sabertooth.h@1:c22f68fd1b55, 2017-09-28 (annotated)

Committer:
eljerchua
Date:
Thu Sep 28 02:07:00 2017 +0000
Revision:
1:c22f68fd1b55
Parent:
0:8ad928968f9e 
aaa

Who changed what in which revision?

UserRevisionLine numberNew 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 #ifndef SABERTOOTH_H
bediyap 0:8ad928968f9e 36 #define SABERTOOTH_H
bediyap 0:8ad928968f9e 37
bediyap 0:8ad928968f9e 38 /**
bediyap 0:8ad928968f9e 39 * Includes
bediyap 0:8ad928968f9e 40 */
bediyap 0:8ad928968f9e 41 #include "mbed.h"
bediyap 0:8ad928968f9e 42
bediyap 0:8ad928968f9e 43 /**
bediyap 0:8ad928968f9e 44 * Defines
bediyap 0:8ad928968f9e 45 */
bediyap 0:8ad928968f9e 46 #define START_CHARACTER 170
bediyap 0:8ad928968f9e 47
bediyap 0:8ad928968f9e 48
bediyap 0:8ad928968f9e 49 class Sabertooth {
bediyap 0:8ad928968f9e 50
bediyap 0:8ad928968f9e 51 public:
bediyap 0:8ad928968f9e 52 /**
bediyap 0:8ad928968f9e 53 * Constructor.
bediyap 0:8ad928968f9e 54 *
bediyap 0:8ad928968f9e 55 * @param
bediyap 0:8ad928968f9e 56 */
bediyap 0:8ad928968f9e 57 // Constructor
bediyap 0:8ad928968f9e 58 Sabertooth(PinName Tx, int address, int baudrate);
bediyap 0:8ad928968f9e 59
bediyap 0:8ad928968f9e 60 // Initialize Sabertooth
bediyap 0:8ad928968f9e 61 void InitializeCom(void);
bediyap 0:8ad928968f9e 62
bediyap 0:8ad928968f9e 63 // Valid speed is between -127 and +127
bediyap 0:8ad928968f9e 64 void SetSpeedMotorA(int speed);
bediyap 0:8ad928968f9e 65
bediyap 0:8ad928968f9e 66 // Valid speed is between -127 and +127
bediyap 0:8ad928968f9e 67 void SetSpeedMotorB(int speed);
bediyap 0:8ad928968f9e 68
bediyap 0:8ad928968f9e 69 void ShutdownMotors(void);
bediyap 0:8ad928968f9e 70
bediyap 0:8ad928968f9e 71 // Valid speed is between -127 and +127
bediyap 0:8ad928968f9e 72 int GetCommandedSpeedA();
bediyap 0:8ad928968f9e 73
bediyap 0:8ad928968f9e 74 // Valid speed is between -127 and +127
bediyap 0:8ad928968f9e 75 int GetCommandedSpeedB();
bediyap 0:8ad928968f9e 76
bediyap 0:8ad928968f9e 77 private:
bediyap 0:8ad928968f9e 78 enum Motor { A, B };
bediyap 0:8ad928968f9e 79 int _Address;
bediyap 0:8ad928968f9e 80 int _CurrentSpeed[2];
bediyap 0:8ad928968f9e 81 Serial _sabertoothserial; // tx, rx
bediyap 0:8ad928968f9e 82
bediyap 0:8ad928968f9e 83 int ClipSpeed(int speed);
bediyap 0:8ad928968f9e 84
bediyap 0:8ad928968f9e 85 void Send(int command, int value);
bediyap 0:8ad928968f9e 86
bediyap 0:8ad928968f9e 87 void SetMotorSpeed(int motor,int speed);
bediyap 0:8ad928968f9e 88 };
bediyap 0:8ad928968f9e 89
bediyap 0:8ad928968f9e 90 #endif /* SABERTOOTH_H */