TankDriveSabertooth.h

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#ifndef TankDriveSabertooh_h
#define TankDriveSabertooh_h
 
#include "drive/TankDrive.h"
#include "motor/SabertoothDriver.h"
 
class TankDriveSabertooth : public TankDrive, public SabertoothDriver
{
public:
    TankDriveSabertooth(int id, HardwareSerial& serial, JoystickController& driveStick) :
        TankDrive(driveStick),
        SabertoothDriver(id, serial)
    {
    }
 
    virtual void setup() override
    {
        setBaudRate(9600);
        setRamping(80);
        setTimeout(950);
    }
 
    virtual void stop() override
    {
        SabertoothDriver::stop();
        TankDrive::stop();
    }
 
protected:
    virtual void motor(float left, float right, float throttle) override
    {
        left *= throttle;
        right *= throttle;
        MOTOR_DEBUG_PRINT("ST1: ");
        MOTOR_DEBUG_PRINT((int)(left * 127));
        MOTOR_DEBUG_PRINT(" ST2: ");
        MOTOR_DEBUG_PRINTLN((int)(right * 127));
        SabertoothDriver::motor(1, left * 127);
        SabertoothDriver::motor(2, right * 127);
    }
};
#endif