SabertoothDriver.h

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/*
Arduino Library for SyRen/Sabertooth Packet Serial
Copyright (c) 2012-2013 Dimension Engineering LLC
http://www.dimensionengineering.com/arduino
 
Permission to use, copy, modify, and/or distribute this software for any
purpose with or without fee is hereby granted, provided that the above
copyright notice and this permission notice appear in all copies.
 
THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE
USE OR PERFORMANCE OF THIS SOFTWARE.
*/
 
#ifndef SabertoothDriver_h
#define SabertoothDriver_h   
 
#include "ReelTwo.h"
 
class SabertoothDriver
{
public:
    SabertoothDriver(byte address, Stream& port) :
        fAddress(address),
        fPort(&port)
    {
    }
 
    inline byte address() const
    {
        return fAddress;
    }
 
    inline void setAddress(byte addr)
    {
        fAddress = addr;
    }
 
    void autobaud(boolean dontWait = false) const
    {
        if (fPort != nullptr)
        {
            autobaud(*fPort, dontWait);
        }
    }
 
    static void autobaud(Stream& port, boolean dontWait = false)
    {
        if (!dontWait)
        {
            delay(1500);
        }
        port.write(0xAA);
        port.flush();
        if (!dontWait)
        {
            delay(500);
        }
    }
 
    void command(byte command, byte value) const
    {
        if (fPort != nullptr)
        {
            //printf("CMD{%d}:%d:%d:%d\n", address(), command, value, (address() + command + value) & B01111111);
            fPort->write(address());
            fPort->write(command);
            fPort->write(value);
            fPort->write((address() + command + value) & B01111111);
        }
    }
 
    void motor(int power) const
    {
        motor(1, power);
    }
 
    void motor(byte motor, int power) const
    {
        if (motor >= 1 && motor <= 2)
        {
            throttleCommand((motor == 2 ? 4 : 0) + (power < 0 ? 1 : 0), power);
        }
    }
 
    void drive(int power) const
    {
        throttleCommand(power < 0 ? 9 : 8, power);
    }
 
    void turn(int power) const
    {
        throttleCommand(power < 0 ? 11 : 10, power);
    }
 
    void stop() const
    {
        motor(1, 0);
        motor(2, 0);
    }
 
    void setMinVoltage(byte value) const
    {
        command(2, (byte)min((int)value, 120));
    }
 
    void setMaxVoltage(byte value) const
    {
        command(3, (byte)min((int)value, 127));
    }
 
    void setBaudRate(long baudRate) const
    {
    #if defined(ARDUINO) && ARDUINO >= 100
        fPort->flush();
    #endif
 
        byte value;
        switch (baudRate)
        {
            case 2400:
                value = 1;
                break;
            default:
            case 9600:
                value = 2;
                break;
            case 19200:
                value = 3;
                break;
            case 38400:
                value = 4;
                break;
            case 115200:
                value = 5;
                break;
        }
        command(15, value);
 
    #if defined(ARDUINO) && ARDUINO >= 100
        fPort->flush();
    #endif
 
        // (1) flush() does not seem to wait until transmission is complete.
        //     As a result, a Serial.end() directly after this appears to
        //     not always transmit completely. So, we manually add a delay.
        // (2) Sabertooth takes about 200 ms after setting the baud rate to
        //     respond to commands again (it restarts).
        // So, this 500 ms delay should deal with this.
        delay(500);
    }
 
    void setDeadband(byte value) const
    {
        command(17, (byte)min(int(value), 127));
    }
 
    void setRamping(byte value) const
    {
        command(16, (byte)min(int(value), 80));
    }
 
    void setTimeout(int milliseconds) const
    {
        command(14, (byte)((constrain(milliseconds, 0, 12700) + 99) / 100));
    }
 
private:
    void throttleCommand(byte command, int power) const
    {
        power = constrain(power, -126, 126);
        this->command(command, (byte)abs(power));
    }
 
private:
    byte fAddress;
    Stream* fPort = nullptr; 
};
 
#endif