usb sabertooth packet serial library for arduino · usb sabertooth packet serial library for...

MainPage Classes Files ExamplesClassList ClassIndex ClassMembers

USBSabertoothPacketSerialLibraryforArduinoControlyourUSB-enabledSabertoothwithreliablePacketSerial.

ClassList

Herearetheclasses,structs,unionsandinterfaceswithbriefdescriptions:

USBSabertooth ControlsaUSBSabertoothmotordriverrunninginPacketSerialmode

USBSabertoothSerial CreateaUSBSabertoothSerialfortheserialportyouareusing,andthenattachaUSBSabertoothforeachmotordriveryouwanttocommunicatewith


PublicMemberFunctions|Listofallmembers


USBSabertoothClassReference

ControlsaUSBSabertoothmotordriverrunninginPacketSerialmode.More...

PublicMemberFunctions

USBSabertooth(USBSabertoothSerial&serial,byteaddress)

byte address()const

void command(bytecommand,bytevalue)

void command(bytecommand,constbyte*value,size_tbytes)

void motor(intvalue)

void motor(bytemotorOutputNumber,intvalue)

void power(intvalue)

void power(bytepowerOutputNumber,intvalue)

void drive(intvalue)

void turn(intvalue)

void freewheel(intvalue=2048)

void freewheel(bytemotorOutputNumber,intvalue=2048)

void shutDown(bytetype,bytenumber,booleanvalue=true)

void set(bytetype,bytenumber,intvalue)

void setRamping(intvalue)

void setRamping(bytemotorOutputNumber,intvalue)

void setTimeout(intmilliseconds)

void keepAlive()

int get(bytetype,bytenumber)

int getBattery(bytemotorOutputNumber,booleanunscaled=false)

int getCurrent(bytemotorOutputNumber,booleanunscaled=false)

int getTemperature(bytemotorOutputNumber,booleanunscaled=false)

int32_t getGetRetryInterval()const

void setGetRetryInterval(int32_tintervalMS)

int32_t getGetTimeout()const

void setGetTimeout(int32_ttimeoutMS)

boolean usingCRC()const

void useChecksum()

void useCRC()

DetailedDescription

ControlsaUSBSabertoothmotordriverrunninginPacketSerialmode.

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,and3.Advanced/SoftwareSerial/SoftwareSerial.ino.

Constructor&DestructorDocumentation

USBSabertooth::USBSabertooth ( USBSabertoothSerial&byte)

InitializesanewinstanceoftheUSBSabertoothclass.Thedriveraddressissettothevaluegiven,andthespecifiedserialportisused.

Parametersserial TheUSBSabertoothSerialwhoseserialportthemotor

driverison.address Thedriveraddress.

MemberFunctionDocumentation

byteUSBSabertooth::address ( ) const inline

Getsthedriveraddress.

ReturnsThedriveraddress.

voidUSBSabertooth::command ( byte command,byte value)

Sendsapacketserialcommandtothemotordriver.

Parameterscommand Thenumberofthecommand.value Thecommand'svalue.

voidUSBSabertooth::command ( byte command,

constbyte* value,size_t bytes)

Sendsamultibytepacketserialcommandtothemotordriver.

Parameterscommand Thenumberofthecommand.value Thecommand'svalue.bytes Thenumberofbytesinthevalue.

voidUSBSabertooth::drive ( int value )

Controlsthemixed-modedrivechannel.InUserMode,thissetsMD.

Parametersvalue Thevalue,between-2047and2047.

voidUSBSabertooth::freewheel ( int value=2048 )

Causesmotoroutput1tofreewheel.InUserMode,thissetsQ1.

Parametersvalue trueorapositivevalueletsthemotoroutputs

freewheel.falseoranegativeorzerovaluestopsthefreewheeling.

voidUSBSabertooth::freewheel ( bytemotorOutputNumber,

int value=2048)

Causesthespecifiedmotoroutputtofreewheel.InUser

Mode,thissetsQ1orQ2.

ParametersmotorOutputNumber Themotoroutputnumber,1or

2.Youcanalsouseacharacter,suchas'3',toselectthemotoroutputbyitsPlainTextSerialaddress.

value trueorapositivevalueletsthemotoroutputfreewheel.falseoranegativeorzerovaluestopsthefreewheeling.

intUSBSabertooth::get ( byte type,byte number) inline

Getsavaluefromthemotordriver.

Parameterstype Thetypeofchanneltogetfrom.Thiscanbe

'S'(signal),'A'(aux),'M'(motoroutput),or'P'(poweroutput).

number Thenumberofthechannel,1or2.Youcanalsouseacharacter,suchas'3',toselectbyPlainTextSerialaddress.

ReturnsThevalue,orSABERTOOTH_GET_TIMED_OUT.

intUSBSabertooth::getBattery

( byte motorOutputNumber

boolean unscaled=false)

Getsthebatteryvoltage.

ParametersmotorOutputNumber Thenumberofthemotoroutput,1or2.

Youcanalsouseacharacter,suchas'3',toselectbyPlainTextSerialaddress.

unscaled Iftrue,getsinunscaledunits.Iffalse,getsinscaledunits.


intUSBSabertooth::getCurrent ( byte motorOutputNumber


Getsthemotoroutputcurrent.

ParametersmotorOutputNumber Thenumberofthemotoroutput,1or2.

Youcanalsouseacharacter,suchas'3',toselectbyPlainTextSerialaddress.

unscaled Iftrue,getsinunscaledunits.Iffalse,getsinscaledunits.


int32_tUSBSabertooth::getGetRetryInterval ( ) const inline

Getsthegetretryinterval.

ReturnsThegetretryinterval,inmilliseconds.

int32_tUSBSabertooth::getGetTimeout ( ) const inline

Getsthegettimeout.

ReturnsThegettimeout,inmilliseconds.

intUSBSabertooth::getTemperature ( byte motorOutputNumber


Getsthemotoroutputtemperature.

ParametersmotorOutputNumber Thenumberofthemotoroutput,1or2.You

canalsouseacharacter,suchas'3',toselectbyPlainTextSerialaddress.

unscaled Iftrue,getsinunscaledunits.Iffalse,getsin

scaledunits.


voidUSBSabertooth::keepAlive ( )

Resetstheserialtimeout.Thisisdoneautomaticallyanytimeamotoroutputisset.Youcan,however,callthisifyoudon'twanttosetanymotoroutputs.

voidUSBSabertooth::motor ( int value )

Controlsmotoroutput1.InUserMode,thissetsM1.


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

voidUSBSabertooth::motor ( bytemotorOutputNumber,int value)

Controlsthespecifiedmotoroutput.InUserMode,thissetsM1orM2.

ParametersmotorOutputNumber Themotoroutputnumber,1or

2.Youcanalsouseacharacter,suchas'3',toselectthemotoroutputbyitsPlainTextSerialaddress.

value Thevalue,between-2047and2047.

voidUSBSabertooth::power ( int value )

Controlspoweroutput1,ifpoweroutput1isconfiguredasacontrollableoutput.InUserMode,thissetsP1.


voidUSBSabertooth::power ( byte powerOutputNumber,

int value)

Controlsthespecifiedpoweroutput,ifthepoweroutputisconfiguredasacontrollableoutput.InUserMode,thissetsP1orP2.

ParameterspowerOutputNumberThepoweroutputnumber,1or

2.Youcanalsouseacharacter,suchas'3',toselectthepoweroutputbyitsPlainTextSerialaddress.

value Thevalue,between-2047and2047.

voidUSBSabertooth::set ( byte type,byte number,int value)

Setsavalueonthemotordriver.

Parameterstype Thetypeofchanneltoset.Thiscanbe'M'

(motoroutput),'P'(poweroutput),'Q'(freewheel),or'R'(ramping).

number Thenumberofthechannel,1or2.Youcanalsouseacharacter,suchas'3',toselectbyPlainTextSerialaddress.

value Thevalue,between-16383and16383(thoughinmanycases,only-2047to2047aremeaningful).

voidUSBSabertooth::setGetRetryInterval ( int32_t intervalMS )

Setsthegetretryinterval.

ParametersintervalMS Thecommandretryinterval,inmilliseconds.

voidUSBSabertooth::setGetTimeout ( int32_t timeoutMS ) inline

Setsthegettimeout.

ParameterstimeoutMS Thegettimeout,inmilliseconds.

voidUSBSabertooth::setRamping ( int value )

Setstherampingforallmotoroutputs.InUserMode,thissetsR1andR2.

Parametersvalue Therampingvalue,between-16383(fast)and

2047(slow).

voidUSBSabertooth::setRamping ( bytemotorOutputNumber,

int value)

Setstherampingforthespecifiedmotoroutput.InUserMode,thissetsR1orR2.

ParametersmotorOutputNumber Themotoroutputnumber,1or2.

Youcanalsouseacharacter,suchas'3',toselectthemotoroutputbyitsPlainTextSerial

address.value Therampingvalue,between

-16383(fast)and2047(slow).

voidUSBSabertooth::setTimeout ( int milliseconds )

Setstheserialtimeout.

Parametersmilliseconds Themaximumtimeinmilliseconds

betweenpackets.Ifthistimeisexceeded,thedriverwillstopthemotorandpoweroutputs.AvalueofzerousestheDEScribesetting.SABERTOOTH_INFINITE_TIMEOUTdisablesthetimeout.

voidUSBSabertooth::shutDown ( byte type,byte number,boolean value=true)

Shutsdownanoutput.

Parameterstype Thetypeofoutputtoshutdown.Thiscanbe

'M'(motoroutput)or'P'(poweroutput).number Thenumberoftheoutput,1or2.Youcan

alsouseacharacter,suchas'3',toselectbyPlainTextSerialaddress.

value truesetstheshutdown.falseclearstheshutdown.

voidUSBSabertooth::turn ( int value )

Controlsthemixed-modeturnchannel.InUserMode,thissetsMT.


voidUSBSabertooth::useChecksum ( ) inline

CausesfuturecommandstobesentCRC-protected(largerpackets,excellenterrordetection).

voidUSBSabertooth::useCRC ( ) inline

Causesfuturecommandstobesentchecksum-protected(smallerpackets,reasonableerrordetection).

booleanUSBSabertooth::usingCRC ( ) const inline

GetswhetherCRC-protectedcommandsareused.Theyare,bydefault.

ReturnsTrueifCRC-protectedcommandsareused.


PublicMemberFunctions|Listofallmembers


USBSabertoothSerialClassReference

CreateaUSBSabertoothSerialfortheserialportyouareusing,andthenattachaUSBSabertoothforeachmotordriveryouwanttocommunicatewith.More...

PublicMemberFunctions

USBSabertoothSerial(Stream&port=SabertoothTXPinSerial)Stream& port()

DetailedDescription

CreateaUSBSabertoothSerialfortheserialportyouareusing,andthenattachaUSBSabertoothforeachmotordriveryouwanttocommunicatewith.

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,and3.Advanced/SoftwareSerial/SoftwareSerial.ino.

Constructor&DestructorDocumentation

USBSabertoothSerial::USBSabertoothSerial ( Stream& port

ConstructsaUSBSabertoothSerialobject.

Parametersport Theserialportthemotordriverison.Bydefault,thisistheArduinoTXpin.

MemberFunctionDocumentation

Stream&USBSabertoothSerial::port ( ) inline

Getstheserialportbeingused.

ReturnsTheserialport.



ClassIndex

U

U USBSabertoothSerial

USBSabertooth

U


All Functions

a c d f g k m p s t u


Hereisalistofalldocumentedclassmemberswithlinkstotheclassdocumentationforeachmember:

-a-

address():USBSabertooth

-c-

command():USBSabertooth

-d-

drive():USBSabertooth

-f-

freewheel():USBSabertooth

-g-

get():USBSabertoothgetBattery():USBSabertooth

getCurrent():USBSabertoothgetGetRetryInterval():USBSabertoothgetGetTimeout():USBSabertoothgetTemperature():USBSabertooth

-k-

keepAlive():USBSabertooth

-m-

motor():USBSabertooth

-p-

port():USBSabertoothSerialpower():USBSabertooth

-s-

set():USBSabertoothsetGetRetryInterval():USBSabertoothsetGetTimeout():USBSabertoothsetRamping():USBSabertoothsetTimeout():USBSabertoothshutDown():USBSabertooth

-t-

turn():USBSabertooth

-u-

USBSabertooth():USBSabertoothUSBSabertoothSerial():USBSabertoothSerial

useChecksum():USBSabertoothuseCRC():USBSabertoothusingCRC():USBSabertooth


All Functions

a c d f g k m p s t u


-a-

address():USBSabertooth

-c-

command():USBSabertooth

-d-

drive():USBSabertooth

-f-

freewheel():USBSabertooth

-g-

get():USBSabertoothgetBattery():USBSabertoothgetCurrent():USBSabertooth

getGetRetryInterval():USBSabertoothgetGetTimeout():USBSabertoothgetTemperature():USBSabertooth

-k-

keepAlive():USBSabertooth

-m-

motor():USBSabertooth

-p-

port():USBSabertoothSerialpower():USBSabertooth

-s-

set():USBSabertoothsetGetRetryInterval():USBSabertoothsetGetTimeout():USBSabertoothsetRamping():USBSabertoothsetTimeout():USBSabertoothshutDown():USBSabertooth

-t-

turn():USBSabertooth

-u-

USBSabertooth():USBSabertoothUSBSabertoothSerial():USBSabertoothSerialuseChecksum():USBSabertooth

useCRC():USBSabertoothusingCRC():USBSabertooth

MainPage Classes Files ExamplesFileList


FileList

Hereisalistofalldocumentedfileswithbriefdescriptions:[detaillevel1 2]

USBSabertoothUSBSabertooth.h

MainPage Classes Files ExamplesUSBSabertooth


USBSabertoothDirectoryReference

Filesfile USBSabertooth.cppfile USBSabertooth.h[code]file USBSabertoothChecksum.cppfile USBSabertoothCommandWriter.cppfile USBSabertoothCRC14.cppfile USBSabertoothCRC7.cppfile USBSabertoothReplyReceiver.cppfile USBSabertoothSerial.cppfile USBSabertoothTimeout.cpp


USBSabertooth

Classes


USBSabertooth.hFileReference

Gotothesourcecodeofthisfile.

Classesclass USBSabertoothSerial

CreateaUSBSabertoothSerialfortheserialportyouareusing,andthenattachaUSBSabertoothforeachmotordriveryouwanttocommunicatewith.More...

class USBSabertooth

ControlsaUSBSabertoothmotordriverrunninginPacketSerialmode.More...

DetailedDescription

IncludethisfiletousetheUSBSabertoothArduinolibrary.

MainPage Classes Files Examples


Examples

Hereisalistofallexamples:

1.Basics/Freewheeling/Freewheeling.ino1.Basics/PowerOutputs/PowerOutputs.ino1.Basics/Simplest/Simplest.ino1.Basics/Sweep/Sweep.ino1.Basics/TankStyleSweep/TankStyleSweep.ino2.Settings/Ramping/Ramping.ino2.Settings/SerialTimeout/SerialTimeout.ino3.Advanced/Checksum/Checksum.ino3.Advanced/SharedLine/SharedLine.ino3.Advanced/SoftwareSerial/SoftwareSerial.ino



1.Basics/Freewheeling/Freewheeling.ino

Goesinonedirection,letsthemotorfreewheel,andthengoesintheotherdirection.

//FreewheelingSampleforUSBSabertoothPacket

Serial

//Copyright(c)2012-2013DimensionEngineering

LLC

//Seelicense.txtforlicensedetails.

#include<USBSabertooth.h>

//Insteadofbraking,thissampleletsthemotor

freewheel.

USBSabertoothSerialC;//UsetheArduinoTXpin.

ItconnectstoS1.

//SeetheSoftwareSerialexamplein3.Advanced

forhowtouseotherpins.

USBSabertoothST(C,128);//TheUSBSabertoothis

onaddress128(unlessyou'vechangeditwith

DEScribe).

//We'llnameitsobjectST.

//

//Ifyou'vesetupyourSabertoothonadifferent

address,ofcoursechange

//thathere.ForhowtoconfiguretheSabertooth,

seetheDIPSwitchWizardat

//

http://www.dimensionengineering.com/datasheets/

USBSabertoothDIPWizard/start.htm

//BesuretoselectPacketSerialModeforuse

withthislibrary.

voidsetup()

{

SabertoothTXPinSerial.begin(9600);//9600isthe

defaultbaudrateforSabertoothPacketSerial.

//YoucanchangethiswiththeDEScribesoftware,

availableat

//http://www.dimensionengineering.com/describe

}

voidloop()

{

ST.freewheel(1,false);//Turnofffreewheeling.

ST.motor(1,2047);//Goforwardatfull

power.

delay(1000);//Wait1second.

ST.freewheel(1,true);//Turnonfreewheeling.

delay(2000);//Wait2seconds.

ST.motor(1,-2047);//Reverseatfullpower.

ST.freewheel(1,false);//Turnofffreewheeling.


ST.freewheel(1,true);//Turnonfreewheeling.

delay(2000);

}



1.Basics/PowerOutputs/PowerOutputs.ino

DemonstratestheuseofpoweroutputsP1andP2asadditionalcontrollableoutputs.

//PowerOutputsSampleforUSBSabertoothPacket

Serial


LLC



//ThisexampletreatsthepoweroutputsP1andP2

ascontrollableoutputs,

//usefulforfans,lights,single-direction

motors,etc.

//

//Thepoweroutputsarenot,bydefault,

controllableoutputs.

//YouwillneedtousetheDEScribesoftware,

availableat


//Toconfigurethem,inDEScribe,

//(1)ConnectandDownloadSettings,

//(2)OnthePowerOutputstab,setModeto

'ControllableOutput',andthen

//(3)UploadSettingstoDevice

//Thissamplewillthenwork.


ItconnectstoS1.





DEScribe).


//





//




withthislibrary.

voidsetup()

{

SabertoothTXPinSerial.begin(9600);

}

voidloop()

{

intvalue;

//Ramppoweroutput1from-2047to2047(offto

fullpower),

//waiting20ms(1/50thofasecond)perstep.

for(value=-2047;value<=2047;value+=16)

{

ST.power(1,value);

delay(20);

}

//Nowgobackthewaywecame.

for(value=2047;value>=-2047;value-=16)

{

ST.power(1,value);//Tip:Typing

ST.power(value)doesthesamethingas

ST.power(1,value).

delay(20);//Ifyouoftenuse

onlyonepoweroutput,thisalternativecan

saveyoutyping.

}

}



1.Basics/Simplest/Simplest.ino

Goesinonedirection,stops,andthengoesintheotherdirection.

//SimplestSampleforUSBSabertoothPacketSerial


LLC




ItconnectstoS1.





DEScribe).


//





//




withthislibrary.

//

//TheUSBSabertoothlibraryexposesfeaturesthat

onlyexistonUSB-enabledSabertoothmotor

drivers,suchas

//12-bitmotoroutputs,poweroutputs,control

overfreewheeling,motorcurrentread-back,and

UserModevariables.

//Ifyoudonotneedthesefeatures,andwant

yourcodetobecompatiblewithall

Sabertooth/SyRenmotordrivers,

//includingthosethatarenotUSB-enabled,use

theSabertoothlibraryinstead.

voidsetup()

{




availableat


}

voidloop()

{

ST.motor(1,2047);//Goforwardatfullpower.


ST.motor(1,0);//Stop.


ST.motor(1,-2047);//Reverseatfullpower.


ST.motor(1,0);//Stop.

delay(2000);

}



1.Basics/Sweep/Sweep.ino

Sweepsfromfullreversetofullforwardandthenfromfullforwardtofullreverse.

//SweepSampleforUSBSabertoothPacketSerial


LLC




ItconnectstoS1.





DEScribe).


//





//




withthislibrary.

//



drivers,suchas



UserModevariables.






voidsetup()

{




availableat


}

voidloop()

{

intpower;

//Rampmotor1from-2047to2047(fullreverse

tofullforward),


for(power=-2047;power<=2047;power+=16)

{

ST.motor(1,power);

delay(20);

}


for(power=2047;power>=-2047;power-=16)

{

ST.motor(1,power);//Tip:Typing

ST.motor(power)doesthesamethingas

ST.motor(1,power).

delay(20);//Ifyouoftenuse

onlyonemotor,thisalternativecansaveyou

typing.

}

}



1.Basics/TankStyleSweep/TankStyleSweep.ino

Sweepsvariousrangesinmixed(rover)mode.

//Tank-Style(Diff-Drive)SweepSampleforUSB

SabertoothPacketSerial


LLC




ItconnectstoS1.





DEScribe).


//





//




withthislibrary.

//



drivers,suchas



UserModevariables.






voidsetup()

{




availableat


ST.drive(0);//TheSabertoothwon'tactonmixed

modepacketserialcommandsuntil

ST.turn(0);//ithasreceivedpowerlevelsfor

BOTHthrottleandturning,sinceit

//mixesthetwotogethertogetdiff-drivepower

levelsforbothmotors.

}

//TheSLOWramphereisturning,andtheFASTramp

isthrottle.

//Ifthat'stheoppositeofwhatyou'reseeing,

swapM2AandM2B.

voidloop()

{

intpower;

//Don'tturn.Rampfromgoingbackwardstogoing

forwards,waiting20ms(1/50thofasecond)

perstepof16.


{

ST.drive(power);

delay(20);

}

//Now,let'suseapowerlevelof400(outof

2047)forward.

//Thisway,ourturningwillhavearadius.

ST.drive(400);

//Rampturningfromfulllefttofullright

SLOWLYbywaiting20ms(1/50thofasecond)

perstepof4.


{

ST.turn(power);

delay(20);

}

//Nowstopturning,andstopdriving.

ST.turn(0);

ST.drive(0);

//Waitabit.Thisissoyoucancatchyourrobot

ifyouwantto.:-)

delay(5000);

}



2.Settings/Ramping/Ramping.ino

Modifiestheramptime.

//SetRampingSampleforUSBSabertoothPacket

Serial


LLC



USBSabertoothSerialC;

USBSabertoothST(C,128);

voidsetup()

{


//Rampingvaluesrunfrom-16383(fast)to2047

(slow).

//-16383isequivalenttoturningofframping.

ST.setRamping(1980);//(approximately2seconds)

}

voidloop()

{

//Fullforward,bothmotors.

ST.motor(1,2047);

ST.motor(2,2047);

delay(5000);

//Fullreverse

ST.motor(1,-2047);

ST.motor(2,-2047);

delay(5000);

}



2.Settings/SerialTimeout/SerialTimeout.ino

Setsaserialtimeout,andthendelaystodemonstrateitsstoppingbehavior.

//SetSerialTimeoutSampleforUSBSabertooth

PacketSerial


LLC





voidsetup()

{


//Setatimeoutof1500mshere.

//Avalueof0resetstheserialtimeouttoits

default(normally,disabled).

//Youcanalsosettheserialtimeoutin

DEScribe,availableat


ST.setTimeout(1500);

}

voidloop()

{

//Setmotor1toreverse400(outof2047),and

sleepfor5seconds.

//Noticehowitcutsoutafter1.5seconds--

thisistheserialtimeoutinaction.

//Sinceweconfigureditinsetup()for1.5

second,1.5secondwithoutanynew

//commandswillcausethemotorstostop.

ST.motor(1,-400);

delay(5000);

//Whydothis?

//Ifyourprogramcrashes,orthesignalwireis

notworkingproperly,

//theSabertoothwillstopreceivingcommands

fromtheArduino.

//Withatimeout,yourrobotwillstop.

//

//So,serialtimeoutisprimarilyasafety

feature.Thatbeingthecase,

//it'sbesttosettheserialtimeoutinDEScribe

ifyoucan--ifthe

//signallineisnoisywhenthecommandissent,

itmaybelost.DEScribe

//settingsaresavedonthemotordriver,

eliminatingthatpossibility.

}



3.Advanced/Checksum/Checksum.ino

ChangesfromCRCtoChecksummode.

//ChecksumSampleforUSBSabertoothPacketSerial


LLC



//Thissamplechangesthetypeoferrordetection

thatisdone.

//Ituseschecksumstoachieveafasterupdate

ratethantheSweepsample.

//

//Thetradeoffsareasfollows:

//|Checksum

|CRC|

//|-----------------------------------|-----------

-|-----------|

//|CommandSize|8bytes

|10bytes|

//|MaxCommandRateat9600Baud|120cmd/s

|96cmd/s|

//|DetectableBitFlips(Worst-Case)|1(HD=2)

|5(HD=6)|

//|-----------------------------------|-----------

-|-----------|

//

//Ifyouwantto,youcanrequiretheuseofCRC-

protectedcommands

//withDEScribe.GotoDEScribe'sSerialtabto

findthisoption.

//

//Thistabalsoletsyouchangetheserialbaud

rate.Increasingthe

//baudrateis,inmostsituations,abetterway

toincreasethemax

//commandratethanweakeningerrordetection.



voidsetup()

{


ST.useChecksum();//ST.useCRC();isthedefault.

}

voidloop()

{

intpower;


tofullforward),



{

ST.motor(1,power);

delay(9);

}



{

ST.motor(1,power);

delay(9);

}

}



3.Advanced/SharedLine/SharedLine.ino

CommunicateswiththreeSabertoothmotordriversusingasharedTX/S1wire.

//SharedLineSampleforUSBSabertoothPacket

Serial


LLC



//Upto8Sabertooth/SyRenmotordriverscanshare

thesameS1line.

//Thissampleusesthree:address128and129on

ST1[0]andST1[2],

//andaddress130onST2.

//

//TochangetheaddressofaUSBSabertoothmotor

driver,gotothe

//SerialtabinDEScribe.DEScribecanbe

downloadedfrom



USBSabertoothST1[2]={USBSabertooth(C,

128),USBSabertooth(C,129)};

USBSabertoothST2(C,130);

voidsetup()

{


}

voidloop()

{

//ST1[0](address128)haspower800(of2047

max)onM1,

//ST1[1](address129)haspower1000(of2047

max)onM2,and

//ST2(address130)we'lldotank-styleand

haveitdrive300andturnright800.

//Dothisfor5seconds.

ST1[0].motor(1,800);

ST1[1].motor(2,1000);

ST2.drive(300);

ST2.turn(800);

delay(5000);

//Andnowlet'sstopfor5seconds,except

address130--we'llletitstopandturn

left...

ST1[0].motor(1,0);

ST1[1].motor(2,0);

ST2.drive(0);

ST2.turn(-600);

delay(5000);

}



3.Advanced/SoftwareSerial/SoftwareSerial.ino

UsesapinotherthanTXtoconnecttoS1.

//SoftwareSerialSampleforUSBSabertoothPacket

Serial


LLC


#include<SoftwareSerial.h>


SoftwareSerialSWSerial(NOT_A_PIN,11);//RX

onnopin(unused),TXonpin11(toS1).

USBSabertoothSerialC(SWSerial);//Use

SWSerialastheserialport.

USBSabertoothST(C,128);//Use

address128.

voidsetup()

{

SWSerial.begin(9600);

}

voidloop()

{

intpower;


tofullforward),



{

ST.motor(1,power);

delay(20);

}



{

ST.motor(1,power);

delay(20);

}

}



USBSabertoothMemberList

ThisisthecompletelistofmembersforUSBSabertooth,includingallinheritedmembers.

address()constcommand(bytecommand,bytevalue)command(bytecommand,constbyte*value,size_tbytes)drive(intvalue)freewheel(intvalue=2048)freewheel(bytemotorOutputNumber,intvalue=2048)get(bytetype,bytenumber)getBattery(bytemotorOutputNumber,booleanunscaled=false)getCurrent(bytemotorOutputNumber,booleanunscaled=false)getGetRetryInterval()constgetGetTimeout()constgetTemperature(bytemotorOutputNumber,booleanunscaled=false)keepAlive()motor(intvalue)motor(bytemotorOutputNumber,intvalue)power(intvalue)power(bytepowerOutputNumber,intvalue)

set(bytetype,bytenumber,intvalue)setGetRetryInterval(int32_tintervalMS)setGetTimeout(int32_ttimeoutMS)setRamping(intvalue)setRamping(bytemotorOutputNumber,intvalue)setTimeout(intmilliseconds)shutDown(bytetype,bytenumber,booleanvalue=true)turn(intvalue)USBSabertooth(USBSabertoothSerial&serial,byteaddress)useChecksum()useCRC()usingCRC()const



USBSabertoothSerialMemberList

ThisisthecompletelistofmembersforUSBSabertoothSerial,includingallinheritedmembers.

port()USBSabertoothSerial(Stream&port=SabertoothTXPinSerial)


USBSabertooth


USBSabertooth.h

Gotothedocumentationofthisfile.1 /*

2 ArduinoLibraryforUSBSabertoothPacket

Serial

3 Copyright(c)2013DimensionEngineeringLLC

4 http://www.dimensionengineering.com/arduino

5

6 Permissiontouse,copy,modify,and/or

distributethissoftwareforany

7 purposewithorwithoutfeeishereby

granted,providedthattheabove

8 copyrightnoticeandthispermissionnotice

appearinallcopies.

9

10 THESOFTWAREISPROVIDED"ASIS"ANDTHE

AUTHORDISCLAIMSALLWARRANTIES

11 WITHREGARDTOTHISSOFTWAREINCLUDINGALL

IMPLIEDWARRANTIESOF

12 MERCHANTABILITYANDFITNESS.INNOEVENT

SHALLTHEAUTHORBELIABLEFORANY

13 SPECIAL,DIRECT,INDIRECT,ORCONSEQUENTIAL

DAMAGESORANYDAMAGESWHATSOEVER

14 RESULTINGFROMLOSSOFUSE,DATAORPROFITS,

WHETHERINANACTIONOFCONTRACT,

15 NEGLIGENCEOROTHERTORTIOUSACTION,ARISING

OUTOFORINCONNECTIONWITHTHE

16 USEORPERFORMANCEOFTHISSOFTWARE.

17 */

18

19 #ifndefUSBSabertooth_h

20 #defineUSBSabertooth_h

21

27 #ifdefined(ARDUINO)&&ARDUINO<100

28 #error"ThislibraryrequiresArduino1.0or

newer."

29 #endif

30

31 #include<Arduino.h>

32

33 #ifdefined(USBCON)

34 #defineSabertoothTXPinSerialSerial1//

ArduinoLeonardohasTX->1onSerial1,not

Serial.

35 #else

36 #defineSabertoothTXPinSerialSerial

37 #endif

38 #defineSyRenTXPinSerial

SabertoothTXPinSerial

39

40 #defineSABERTOOTH_COMMAND_MAX_BUFFER_LENGTH

10

41 #defineSABERTOOTH_COMMAND_MAX_DATA_LENGTH

5

42 #defineSABERTOOTH_DEFAULT_GET_RETRY_INTERVAL

100

43 #defineSABERTOOTH_DEFAULT_GET_TIMEOUT

SABERTOOTH_INFINITE_TIMEOUT

44 #defineSABERTOOTH_GET_TIMED_OUT

-32768

45 #defineSABERTOOTH_INFINITE_TIMEOUT

-1

46 #defineSABERTOOTH_MAX_VALUE

16383

47

48 enumUSBSabertoothCommand

49 {

50 SABERTOOTH_CMD_SET=40,

51 SABERTOOTH_CMD_GET=41,

52 };

53

54 enumUSBSabertoothReplyCode

55 {

56 SABERTOOTH_RC_GET=73

57 };

58

59 enumUSBSabertoothGetType

60 {

61 SABERTOOTH_GET_VALUE=0x00,

62 SABERTOOTH_GET_BATTERY=0x10,

63 SABERTOOTH_GET_CURRENT=0x20,

64 SABERTOOTH_GET_TEMPERATURE=0x40

65 };

66

67 enumUSBSabertoothSetType

68 {

69 SABERTOOTH_SET_VALUE=0x00,

70 SABERTOOTH_SET_KEEPALIVE=0x10,

71 SABERTOOTH_SET_SHUTDOWN=0x20,

72 SABERTOOTH_SET_TIMEOUT=0x40

73 };

74

75 classUSBSabertoothCommandWriter

76 {

77 public:

78 staticsize_twriteToBuffer(byte*buffer,

byteaddress,USBSabertoothCommandcommand,

booleanuseCRC,constbyte*data,size_t

lengthOfData);

79 staticvoidwriteToStream(Stream&port,

byteaddress,USBSabertoothCommandcommand,

booleanuseCRC,constbyte*data,size_t

lengthOfData);

80 };

81

82 classUSBSabertoothChecksum

83 {

84 public:

85 staticbytevalue(constbyte*data,size_t

lengthOfData);

86 };

87

88 classUSBSabertoothCRC7

89 {

90 public:

91 voidbegin();

92 voidwrite(bytedata);

93 voidwrite(constbyte*data,size_t

lengthOfData);

94 voidend();

95

96 public:

97 inlinebytevalue()const{return_crc;

}

98 voidvalue(bytecrc){_crc=crc;

}

99

100 staticbytevalue(constbyte*data,size_t

lengthOfData);

101

102 private:

103 byte_crc;

104 };

105

106 classUSBSabertoothCRC14

107 {

108 public:

109 voidbegin();

110 voidwrite(bytedata);

111 voidwrite(constbyte*data,size_t

lengthOfData);

112 voidend();

113

114 public:

115 inlineuint16_tvalue()const{

return_crc;}

116 voidvalue(uint16_tcrc){_crc

=crc;}

117

118 staticuint16_tvalue(constbyte*data,

size_tlengthOfData);

119

120 private:

121 uint16_t_crc;

122 };

123

124 classUSBSabertoothReplyReceiver

125 {

126 public:

127 USBSabertoothReplyReceiver();

128

129 public:

130 inlinebyteaddress

()const{return_data[0];

}

131 inlineUSBSabertoothReplyCodecommand

()const{return

(USBSabertoothReplyCode)_data[1];}

132 inlineconstbyte*data

()const{return_data;

}

133 inlinebooleanusingCRC()

const{return_usingCRC;

}

134

135 public:

136 inlinebooleanready()const{return

_ready;}

137 voidread(bytedata);

138 voidreset();

139

140 private:

141 byte

_data[SABERTOOTH_COMMAND_MAX_BUFFER_LENGTH];

142 size_t_length;boolean_ready,_usingCRC;

143 };

144

145 classUSBSabertoothTimeout

146 {

147 public:

148 USBSabertoothTimeout(int32_ttimeoutMS);

149

150 public:

151 booleancanExpire()const;

152

153 booleanexpired()const;

154

155 voidexpire();

156

157 voidreset();

158

159 private:

160 uint32_t_start;

161 int32_t_timeoutMS;

162 };

163

169 classUSBSabertoothSerial

170 {

171 friendclassUSBSabertooth;

172

173 public:

179 USBSabertoothSerial(Stream&port=

SabertoothTXPinSerial);

180

181 public:

186 inlineStream&port(){return_port;}

187

188 private:

189 booleantryReceivePacket();

190

191 private:

192 USBSabertoothSerial(USBSabertoothSerial&

serial);//nocopy

193 voidoperator=(USBSabertoothSerial&

serial);

194

195 private:

196 USBSabertoothReplyReceiver_receiver;

197 Stream&_port;

198 };

199

204 classUSBSabertooth

205 {

206 public:

213 USBSabertooth(USBSabertoothSerial&serial,

byteaddress);

214

215 public:

220 inlinebyteaddress()const{return

_address;}

221

227 voidcommand(bytecommand,bytevalue);

228

235 voidcommand(bytecommand,constbyte*

value,size_tbytes);

236

237 public:

243 voidmotor(intvalue);

244

253 voidmotor(bytemotorOutputNumber,int

value);

254

260 voidpower(intvalue);

261

270 voidpower(bytepowerOutputNumber,int

value);

271

277 voiddrive(intvalue);

278

284 voidturn(intvalue);

285

292 voidfreewheel(intvalue=2048);

293

303 voidfreewheel(bytemotorOutputNumber,int

value=2048);

304

316 voidshutDown(bytetype,bytenumber,

booleanvalue=true);

317

318 public:

332 voidset(bytetype,bytenumber,int

value);

333

339 voidsetRamping(intvalue);

340

349 voidsetRamping(bytemotorOutputNumber,int

value);

350

359 voidsetTimeout(intmilliseconds);

360

366 voidkeepAlive();

367

368 public:

381 inlineintget(bytetype,bytenumber)

382 {

383 returnget(type,number,

SABERTOOTH_GET_VALUE,false);

384 }

385

394 inlineintgetBattery(byte

motorOutputNumber,booleanunscaled=false)

395 {

396 returnget('M',motorOutputNumber,

SABERTOOTH_GET_BATTERY,unscaled);

397 }

398

407 inlineintgetCurrent(byte


408 {


SABERTOOTH_GET_CURRENT,unscaled);

410 }

411

420 inlineintgetTemperature(byte


421 {


SABERTOOTH_GET_TEMPERATURE,unscaled);

423 }

424

425 public:

429 inlineint32_tgetGetRetryInterval()const

{return_getRetryInterval;}

430

435 inlinevoidsetGetRetryInterval(int32_t

intervalMS){_getRetryInterval=intervalMS;}

436

441 inlineint32_tgetGetTimeout()const{

return_getTimeout;}

442

447 inlinevoidsetGetTimeout(int32_t

timeoutMS){_getTimeout=timeoutMS;}

448

453 inlinebooleanusingCRC()const{return

_crc;}

454

458 inlinevoiduseChecksum(){_crc=false;}

459

463 inlinevoiduseCRC(){_crc=true;}

464

465 private:

466 intget(bytetype,bytenumber,

467 USBSabertoothGetTypegetType,

booleanraw);

468

469 voidset(bytetype,bytenumber,intvalue,

470 USBSabertoothSetTypesetType);

471

472 private:

473 voidinit();

474

475 private:

476 constbyte_address;

477 boolean_crc;

478 int32_t_getRetryInterval;

479 int32_t_getTimeout;

480 USBSabertoothSerial&_serial;

481 };

482

483 #endif

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