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

Public Member Functions
	USBSabertooth (USBSabertoothSerial &serial, byte address)

byte	address () const

void	command (byte command, byte value)

void	command (byte command, const byte *value, size_t bytes)

void	motor (int value)

void	motor (byte motorOutputNumber, int value)

void	power (int value)

void	power (byte powerOutputNumber, int value)

void	drive (int value)

void	turn (int value)

void	freewheel (int value=2048)

void	freewheel (byte motorOutputNumber, int value=2048)

void	shutDown (byte type, byte number, boolean value=true)

void	set (byte type, byte number, int value)

void	setRamping (int value)

void	setRamping (byte motorOutputNumber, int value)

void	setTimeout (int milliseconds)

void	keepAlive ()

int	get (byte type, byte number)

int	getBattery (byte motorOutputNumber, boolean unscaled=false)

int	getCurrent (byte motorOutputNumber, boolean unscaled=false)

int	getTemperature (byte motorOutputNumber, boolean unscaled=false)

int32_t	getGetRetryInterval () const

void	setGetRetryInterval (int32_t intervalMS)

int32_t	getGetTimeout () const

void	setGetTimeout (int32_t timeoutMS)

boolean	usingCRC () const

void	useChecksum ()

void	useCRC ()

Detailed Description

Controls a USB Sabertooth motor driver running in Packet Serial mode.

Examples:: 1.Basics/Freewheeling/Freewheeling.ino, 1.Basics/PowerOutputs/PowerOutputs.ino, 1.Basics/Simplest/Simplest.ino, 1.Basics/Sweep/Sweep.ino, 1.Basics/TankStyleSweep/TankStyleSweep.ino, 2.Settings/Ramping/Ramping.ino, 2.Settings/SerialTimeout/SerialTimeout.ino, 3.Advanced/Checksum/Checksum.ino, 3.Advanced/SharedLine/SharedLine.ino, and 3.Advanced/SoftwareSerial/SoftwareSerial.ino.

Constructor & Destructor Documentation

USBSabertooth::USBSabertooth	(	USBSabertoothSerial &	serial,
		byte	address
	)

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

Parameters

serial	The USBSabertoothSerial whose serial port the motor driver is on.
address	The driver address.

Member Function Documentation

byte USBSabertooth::address ( ) const

inline

Gets the driver address.

Returns: The driver address.

void USBSabertooth::command	(	byte	command,
		byte	value
	)

Sends a packet serial command to the motor driver.

Parameters

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

void USBSabertooth::command	(	byte	command,
		const byte *	value,
		size_t	bytes
	)

Sends a multibyte packet serial command to the motor driver.

Parameters

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

void USBSabertooth::drive ( int value )

Controls the mixed-mode drive channel. In User Mode, this sets MD.

Parameters

value The value, between -2047 and 2047.

void USBSabertooth::freewheel ( int value = 2048 )

Causes motor output 1 to freewheel. In User Mode, this sets Q1.

Parameters

value true or a positive value lets the motor outputs freewheel. false or a negative or zero value stops the freewheeling.

void USBSabertooth::freewheel	(	byte	motorOutputNumber,
		int	value = `2048`
	)

Causes the specified motor output to freewheel. In User Mode, this sets Q1 or Q2.

Parameters

motorOutputNumber	The motor output number, 1 or 2. You can also use a character, such as '3', to select the motor output by its Plain Text Serial address.
value	true or a positive value lets the motor output freewheel. false or a negative or zero value stops the freewheeling.

int USBSabertooth::get	(	byte	type,
		byte	number
	)

inline

Gets a value from the motor driver.

Parameters

type	The type of channel to get from. This can be 'S' (signal), 'A' (aux), 'M' (motor output), or 'P' (power output).
number	The number of the channel, 1 or 2. You can also use a character, such as '3', to select by Plain Text Serial address.

Returns: The value, or SABERTOOTH_GET_TIMED_OUT.

int USBSabertooth::getBattery	(	byte	motorOutputNumber,
		boolean	unscaled = `false`
	)

inline

Gets the battery voltage.

Parameters

motorOutputNumber	The number of the motor output, 1 or 2. You can also use a character, such as '3', to select by Plain Text Serial address.
unscaled	If true, gets in unscaled units. If false, gets in scaled units.

Returns: The value, or SABERTOOTH_GET_TIMED_OUT.

int USBSabertooth::getCurrent	(	byte	motorOutputNumber,
		boolean	unscaled = `false`
	)

inline

Gets the motor output current.

Parameters

motorOutputNumber	The number of the motor output, 1 or 2. You can also use a character, such as '3', to select by Plain Text Serial address.
unscaled	If true, gets in unscaled units. If false, gets in scaled units.

Returns: The value, or SABERTOOTH_GET_TIMED_OUT.

int32_t USBSabertooth::getGetRetryInterval ( ) const

inline

Gets the get retry interval.

Returns: The get retry interval, in milliseconds.

int32_t USBSabertooth::getGetTimeout ( ) const

inline

Gets the get timeout.

Returns: The get timeout, in milliseconds.

int USBSabertooth::getTemperature	(	byte	motorOutputNumber,
		boolean	unscaled = `false`
	)

inline

Gets the motor output temperature.

Parameters

motorOutputNumber	The number of the motor output, 1 or 2. You can also use a character, such as '3', to select by Plain Text Serial address.
unscaled	If true, gets in unscaled units. If false, gets in scaled units.

Returns: The value, or SABERTOOTH_GET_TIMED_OUT.

void USBSabertooth::keepAlive ( )

Resets the serial timeout. This is done automatically any time a motor output is set. You can, however, call this if you don't want to set any motor outputs.

void USBSabertooth::motor ( int value )

Controls motor output 1. In User Mode, this sets M1.

Parameters

value The value, between -2047 and 2047.

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

void USBSabertooth::motor	(	byte	motorOutputNumber,
		int	value
	)

Controls the specified motor output. In User Mode, this sets M1 or M2.

Parameters

motorOutputNumber	The motor output number, 1 or 2. You can also use a character, such as '3', to select the motor output by its Plain Text Serial address.
value	The value, between -2047 and 2047.

void USBSabertooth::power ( int value )

Controls power output 1, if power output 1 is configured as a controllable output. In User Mode, this sets P1.

Parameters

value The value, between -2047 and 2047.

void USBSabertooth::power	(	byte	powerOutputNumber,
		int	value
	)

Controls the specified power output, if the power output is configured as a controllable output. In User Mode, this sets P1 or P2.

Parameters

powerOutputNumber	The power output number, 1 or 2. You can also use a character, such as '3', to select the power output by its Plain Text Serial address.
value	The value, between -2047 and 2047.

void USBSabertooth::set	(	byte	type,
		byte	number,
		int	value
	)

Sets a value on the motor driver.

Parameters

type	The type of channel to set. This can be 'M' (motor output), 'P' (power output), 'Q' (freewheel), or 'R' (ramping).
number	The number of the channel, 1 or 2. You can also use a character, such as '3', to select by Plain Text Serial address.
value	The value, between -16383 and 16383 (though in many cases, only -2047 to 2047 are meaningful).

void USBSabertooth::setGetRetryInterval ( int32_t intervalMS )

inline

Sets the get retry interval.

Parameters

intervalMS The command retry interval, in milliseconds.

void USBSabertooth::setGetTimeout ( int32_t timeoutMS )

inline

Sets the get timeout.

Parameters

timeoutMS The get timeout, in milliseconds.

void USBSabertooth::setRamping ( int value )

Sets the ramping for all motor outputs. In User Mode, this sets R1 and R2.

Parameters

value The ramping value, between -16383 (fast) and 2047 (slow).

void USBSabertooth::setRamping	(	byte	motorOutputNumber,
		int	value
	)

Sets the ramping for the specified motor output. In User Mode, this sets R1 or R2.

Parameters

motorOutputNumber	The motor output number, 1 or 2. You can also use a character, such as '3', to select the motor output by its Plain Text Serial address.
value	The ramping value, between -16383 (fast) and 2047 (slow).

void USBSabertooth::setTimeout ( int milliseconds )

Sets the serial timeout.

Parameters

milliseconds The maximum time in milliseconds between packets. If this time is exceeded, the driver will stop the motor and power outputs. A value of zero uses the DEScribe setting. SABERTOOTH_INFINITE_TIMEOUT disables the timeout.

void USBSabertooth::shutDown	(	byte	type,
		byte	number,
		boolean	value = `true`
	)

Shuts down an output.

Parameters

type	The type of output to shut down. This can be 'M' (motor output) or 'P' (power output).
number	The number of the output, 1 or 2. You can also use a character, such as '3', to select by Plain Text Serial address.
value	true sets the shutdown. false clears the shutdown.

void USBSabertooth::turn ( int value )

Controls the mixed-mode turn channel. In User Mode, this sets MT.

Parameters

value The value, between -2047 and 2047.

void USBSabertooth::useChecksum ( )

inline

Causes future commands to be sent CRC-protected (larger packets, excellent error detection).

void USBSabertooth::useCRC ( )

inline

Causes future commands to be sent checksum-protected (smaller packets, reasonable error detection).

boolean USBSabertooth::usingCRC ( ) const

inline

Gets whether CRC-protected commands are used. They are, by default.

Returns: True if CRC-protected commands are used.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation