first_library
Dependents: 2019_tourobo_upper minirobo_upper_reserve minirobo_under_reserve serial_RTX_NUCLEA
Sabertooth_Serial.cpp
- Committer:
- sink
- Date:
- 2019-02-04
- Revision:
- 0:03e99bd9339e
File content as of revision 0:03e99bd9339e:
#include "Sabertooth_Serial.h" SaberSerial::SaberSerial(int baudrate, PinName tx, PinName rx) : _Sabertooth(tx, rx){ _Sabertooth.baud(baudrate); } void SaberSerial::Serial(int address, int direction, int cmd){ _Sabertooth.putc(address); _Sabertooth.putc(direction); _Sabertooth.putc(abs(cmd)); _Sabertooth.putc((address + direction + abs(cmd)) & 0b01111111); }