Diff: Sabertooth2x25.cpp

Revision:

0:3f784e34179c

Child:

1:b8f62e733e56

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sabertooth2x25.cpp	Wed Sep 21 16:55:39 2011 +0000
@@ -0,0 +1,73 @@
+#include"Sabertooth2x25.h"
+
+Sabertooth2x25::Sabertooth2x25(PinName tx,int baudrate):device_(tx,NC){
+    device_.baud(baudrate);
+}
+
+void Sabertooth2x25::sendCommand(int address, int command, int data) {
+    tx_buf[0] = (unsigned char)address;
+    tx_buf[1] = (unsigned char)command;
+    tx_buf[2] = (unsigned char)data;
+    tx_buf[3] = (unsigned char)((address + command + data) & 0x7F);// checksum
+
+    device_.putc(tx_buf[0]);
+    device_.putc(tx_buf[1]);
+    device_.putc(tx_buf[2]);
+    device_.putc(tx_buf[3]);
+}
+
+void Sabertooth2x25::forward_motor_1(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_MOTOR_ONE , speed);
+}
+
+void Sabertooth2x25::backwards_motor_1(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_ONE, speed);
+}
+
+void Sabertooth2x25::min_voltage(int device_address, int data) {
+    sendCommand(device_address, MIN_VOLTAGE, data);
+}
+
+void Sabertooth2x25::max_voltage(int device_address, int data) {
+    sendCommand(device_address, MAX_VOLTAGE, data);
+}
+
+void Sabertooth2x25::forward_motor_2(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_MOTOR_TWO, speed);
+}
+
+void Sabertooth2x25::backwards_motor_2(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_BACKWARD_MOTOR_TWO, speed);
+}
+
+void Sabertooth2x25::drive_motor_1(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_MOTOR_ONE_7BIT , speed);
+}
+
+void Sabertooth2x25::drive_motor_2(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_MOTOR_TWO_7BIT, speed);
+}
+
+void Sabertooth2x25::drive_forward_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::drive_backwards_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_BACKWARD_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::turn_right_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, TURN_RIGHT_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::drive_turn_left_mixed_mode(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_TURN_LEFT_MIXED_MODE, speed);
+}
+
+void Sabertooth2x25::drive_forwards_back(int device_address, int speed) {
+    sendCommand(device_address, DRIVE_FORWARD_BACK_7BIT, speed);
+}
+
+void Sabertooth2x25::turn(int device_address, int speed) {
+    sendCommand(device_address, TURN_7BIT, speed);
+}
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