Controls a Sabertooth or SyRen motor driver running in Packet Serial mode. More...

Public Member Functions
	Sabertooth (byte address)

	Sabertooth (byte address, SabertoothStream &port)

byte	address () const

SabertoothStream &	port () const

void	autobaud (boolean dontWait=false) const

void	command (byte command, byte value) const

void	motor (int power) const

void	motor (byte motor, int power) const

void	drive (int power) const

void	turn (int power) const

void	stop () const

void	setMinVoltage (byte value) const

void	setMaxVoltage (byte value) const

void	setBaudRate (long baudRate) const

void	setDeadband (byte value) const

void	setRamping (byte value) const

void	setTimeout (int milliseconds) const

Static Public Member Functions
static void	autobaud (SabertoothStream &port, boolean dontWait=false)

Detailed Description

Controls a Sabertooth or SyRen motor driver running in Packet Serial mode.

Examples:: 1.Basics/Jolty/Jolty.ino, 1.Basics/Sweep/Sweep.ino, 1.Basics/TankStyleSweep/TankStyleSweep.ino, 2.Settings/MinVoltage/MinVoltage.ino, 2.Settings/Persistent/BaudRate/BaudRate.ino, 2.Settings/Persistent/Deadband/Deadband.ino, 2.Settings/Persistent/MaxVoltage/MaxVoltage.ino, 2.Settings/Persistent/Ramping/Ramping.ino, 2.Settings/SerialTimeout/SerialTimeout.ino, 3.Advanced/SharedLine/SharedLine.ino, and 3.Advanced/SoftwareSerial/SoftwareSerial.ino.

Constructor & Destructor Documentation

Sabertooth::Sabertooth ( byte address )

Initializes a new instance of the Sabertooth class. The driver address is set to the value given, and the Arduino TX serial port is used.

Parameters

address The driver address.

Sabertooth::Sabertooth	(	byte	address,
		SabertoothStream &	port
	)

Initializes a new instance of the Sabertooth class. The driver address is set to the value given, and the specified serial port is used.

Parameters

address	The driver address.
port	The port to use.

Member Function Documentation

byte Sabertooth::address ( ) const

inline

Gets the driver address.

Returns: The driver address.

void Sabertooth::autobaud ( boolean dontWait = false ) const

Sends the autobaud character.

Parameters

dontWait If false, a delay is added to give the driver time to start up.

Examples:: 3.Advanced/SharedLine/SharedLine.ino.

void Sabertooth::autobaud	(	SabertoothStream &	port,
		boolean	dontWait = `false`
	)

static

Sends the autobaud character.

Parameters

port	The port to use.
dontWait	If false, a delay is added to give the driver time to start up.

void Sabertooth::command	(	byte	command,
		byte	value
	)		const

Sends a packet serial command to the motor driver.

Parameters

command	The number of the command.
value	The command's value.

void Sabertooth::drive ( int power ) const

Sets the driving power.

Parameters

power The power, between -127 and 127.

void Sabertooth::motor ( int power ) const

Sets the power of motor 1.

Parameters

power The power, between -127 and 127.

Examples:: 3.Advanced/SharedLine/SharedLine.ino.

void Sabertooth::motor	(	byte	motor,
		int	power
	)		const

Sets the power of the specified motor.

Parameters

motor	The motor number, 1 or 2.
power	The power, between -127 and 127.

SabertoothStream& Sabertooth::port ( ) const

inline

Gets the serial port.

Returns: The serial port.

void Sabertooth::setBaudRate ( long baudRate ) const

Sets the baud rate. Baud rate is stored in EEPROM, so changes persist between power cycles.

Parameters

baudRate The baud rate. This can be 2400, 9600, 19200, 38400, or on some drivers 115200.

void Sabertooth::setDeadband ( byte value ) const

Sets the deadband. Deadband is stored in EEPROM, so changes persist between power cycles.

Parameters

value The deadband value. Motor powers in the range [-deadband, deadband] will be considered in the deadband, and will not prevent the driver from entering nor cause the driver to leave an idle brake state. 0 resets to the default, which is 3.

void Sabertooth::setMaxVoltage ( byte value ) const

Sets the maximum voltage. Maximum voltage is stored in EEPROM, so changes persist between power cycles.

Parameters

value The voltage. The units of this value are driver-specific and are specified in the Packet Serial chapter of the driver's user manual.

void Sabertooth::setMinVoltage ( byte value ) const

Sets the minimum voltage.

Parameters

value The voltage. The units of this value are driver-specific and are specified in the Packet Serial chapter of the driver's user manual.

void Sabertooth::setRamping ( byte value ) const

Sets the ramping. Ramping is stored in EEPROM, so changes persist between power cycles.

Parameters

value The ramping value. Consult the user manual for possible values.

void Sabertooth::setTimeout ( int milliseconds ) const

Sets the serial timeout.

Parameters

milliseconds The maximum time in milliseconds between packets. If this time is exceeded, the driver will stop the motors. This value is rounded up to the nearest 100 milliseconds. This library assumes the command value is in units of 100 milliseconds. This is true for most drivers, but not all. Check the packet serial chapter of the driver's user manual to make sure.

void Sabertooth::stop ( ) const

Stops.

void Sabertooth::turn ( int power ) const

Sets the turning power.

Parameters

power The power, between -127 and 127.

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation