nucho / Sabertooth2x25

This library is a library for controlling a motor by Sabertooth2x25(Packetized Serial Mode).

Dependents:   2doejemplo

Sabertooth2x25.cpp@0:3f784e34179c, 2011-09-21 (annotated)

Committer:
nucho
Date:
Wed Sep 21 16:55:39 2011 +0000
Revision:
0:3f784e34179c
Child:
1:b8f62e733e56

        

        
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#include"Sabertooth2x25.h"





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Sabertooth2x25::Sabertooth2x25(PinName tx,int baudrate):device_(tx,NC){





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    device_.baud(baudrate);





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}





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void Sabertooth2x25::sendCommand(int address, int command, int data) {





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    tx_buf[0] = (unsigned char)address;





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    tx_buf[1] = (unsigned char)command;





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    tx_buf[2] = (unsigned char)data;





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    tx_buf[3] = (unsigned char)((address + command + data) & 0x7F);// checksum





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    device_.putc(tx_buf[0]);





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    device_.putc(tx_buf[1]);





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    device_.putc(tx_buf[2]);





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    device_.putc(tx_buf[3]);





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}





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void Sabertooth2x25::forward_motor_1(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_FORWARD_MOTOR_ONE , speed);





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}





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void Sabertooth2x25::backwards_motor_1(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_ONE, speed);





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}





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void Sabertooth2x25::min_voltage(int device_address, int data) {





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    sendCommand(device_address, MIN_VOLTAGE, data);





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}





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void Sabertooth2x25::max_voltage(int device_address, int data) {





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    sendCommand(device_address, MAX_VOLTAGE, data);





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}





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void Sabertooth2x25::forward_motor_2(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_FORWARD_MOTOR_TWO, speed);





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}





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void Sabertooth2x25::backwards_motor_2(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_TWO, speed);





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}





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void Sabertooth2x25::drive_motor_1(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_MOTOR_ONE_7BIT , speed);





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}





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void Sabertooth2x25::drive_motor_2(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_MOTOR_TWO_7BIT, speed);





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}





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void Sabertooth2x25::drive_forward_mixed_mode(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_FORWARD_MIXED_MODE, speed);





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}





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void Sabertooth2x25::drive_backwards_mixed_mode(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_BACKWARD_MIXED_MODE, speed);





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}





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void Sabertooth2x25::turn_right_mixed_mode(int device_address, int speed) {





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    sendCommand(device_address, TURN_RIGHT_MIXED_MODE, speed);





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}





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void Sabertooth2x25::drive_turn_left_mixed_mode(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_TURN_LEFT_MIXED_MODE, speed);





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}





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void Sabertooth2x25::drive_forwards_back(int device_address, int speed) {





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    sendCommand(device_address, DRIVE_FORWARD_BACK_7BIT, speed);





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}





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void Sabertooth2x25::turn(int device_address, int speed) {





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    sendCommand(device_address, TURN_7BIT, speed);





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}