1.Basics/Sweep/Sweep.ino

Sweeps from full reverse to full forward and then from full forward to full reverse.

// Sweep Sample for USB Sabertooth Packet Serial
// Copyright (c) 2012-2013 Dimension Engineering LLC
// See license.txt for license details.

#include <USBSabertooth.h>

USBSabertoothSerial C; // Use the Arduino TX pin. It connects to S1.
                       // See the SoftwareSerial example in 3.Advanced for how to use other pins.

USBSabertooth ST(C, 128); // The USB Sabertooth is on address 128 (unless you've changed it with DEScribe).
                          // We'll name its object ST.
                          //
                          // If you've set up your Sabertooth on a different address, of course change
                          // that here. For how to configure the Sabertooth, see the DIP Switch Wizard at
                          //   http://www.dimensionengineering.com/datasheets/USBSabertoothDIPWizard/start.htm
                          // Be sure to select Packet Serial Mode for use with this library.
                          //
                          // The USBSabertooth library exposes features that only exist on USB-enabled Sabertooth motor drivers, such as
                          // 12-bit motor outputs, power outputs, control over freewheeling, motor current read-back, and User Mode variables.
                          // If you do not need these features, and want your code to be compatible with all Sabertooth/SyRen motor drivers,
                          // including those that are not USB-enabled, use the Sabertooth library instead.
                                        
void setup()
{
  SabertoothTXPinSerial.begin(9600); // 9600 is the default baud rate for Sabertooth Packet Serial.
                                     // You can change this with the DEScribe software, available at
                                     //   http://www.dimensionengineering.com/describe
}

void loop()
{
  int power;
  
  // Ramp motor 1 from -2047 to 2047 (full reverse to full forward),
  // waiting 20 ms (1/50th of a second) per step.
  for (power = -2047; power <= 2047; power += 16)
  {
    ST.motor(1, power);
    delay(20);
  }
  
  // Now go back the way we came.
  for (power = 2047; power >= -2047; power -= 16)
  {
    ST.motor(1, power); // Tip: Typing ST.motor(power) does the same thing as ST.motor(1, power).
    delay(20);          //      If you often use only one motor, this alternative can save you typing.
  }
}