SabertoothDriver Class Reference

#include <motor/SabertoothDriver.h>

Inheritance diagram for SabertoothDriver:

Public Member Functions
	SabertoothDriver (byte address, Stream &port)
byte	address () const
void	setAddress (byte addr)
void	autobaud (boolean dontWait=false) const
void	command (byte command, byte value) const
void	motor (int power) const
void	motor (byte motor, int power) const
void	drive (int power) const
void	turn (int power) const
void	stop () const
void	setMinVoltage (byte value) const
void	setMaxVoltage (byte value) const
void	setBaudRate (long baudRate) const
void	setDeadband (byte value) const
void	setRamping (byte value) const
void	setTimeout (int milliseconds) const

Static Public Member Functions
static void	autobaud (Stream &port, boolean dontWait=false)

Constructor & Destructor Documentation

SabertoothDriver()

SabertoothDriver::SabertoothDriver ( byte  address, Stream &  port  )

inline

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

Parameters

address	The driver address.
port	The port to use.

Member Function Documentation

address()

byte SabertoothDriver::address ( ) const

inline

Gets the driver address.

Returns

The driver address.

autobaud() [1/2]

void SabertoothDriver::autobaud ( boolean  dontWait = false ) const

inline

Sends the autobaud character.

Parameters

dontWait

If false, a delay is added to give the driver time to start up.

autobaud() [2/2]

static void SabertoothDriver::autobaud ( Stream &  port, boolean  dontWait = false  )

inlinestatic

Sends the autobaud character.

Parameters

port	The port to use.
dontWait	If false, a delay is added to give the driver time to start up.

command()

void SabertoothDriver::command ( byte  command, byte  value  ) const

inline

Sends a packet serial command to the motor driver.

Parameters

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

drive()

void SabertoothDriver::drive ( int  power ) const

inline

Sets the driving power.

Parameters

power

The power, between -127 and 127.

motor() [1/2]

void SabertoothDriver::motor ( byte  motor, int  power  ) const

inline

Sets the power of the specified motor.

Parameters

motor	The motor number, 1 or 2.
power	The power, between -127 and 127.

motor() [2/2]

void SabertoothDriver::motor ( int  power ) const

inline

Sets the power of motor 1.

Parameters

power

The power, between -127 and 127.

setAddress()

void SabertoothDriver::setAddress ( byte  addr )

inline

Sets the driver address.

Returns

The driver address.

setBaudRate()

void SabertoothDriver::setBaudRate ( long  baudRate ) const

inline

Sets the baud rate. Baud rate is stored in EEPROM, so changes persist between power cycles.

Parameters

baudRate

The baud rate. This can be 2400, 9600, 19200, 38400, or on some drivers 115200.

setDeadband()

void SabertoothDriver::setDeadband ( byte  value ) const

inline

Sets the deadband. Deadband is stored in EEPROM, so changes persist between power cycles.

Parameters

value

The deadband value. Motor powers in the range [-deadband, deadband] will be considered in the deadband, and will not prevent the driver from entering nor cause the driver to leave an idle brake state. 0 resets to the default, which is 3.

setMaxVoltage()

void SabertoothDriver::setMaxVoltage ( byte  value ) const

inline

Sets the maximum voltage. Maximum voltage is stored in EEPROM, so changes persist between power cycles.

Parameters

value

The voltage. The units of this value are driver-specific and are specified in the Packet Serial chapter of the driver's user manual.

setMinVoltage()

void SabertoothDriver::setMinVoltage ( byte  value ) const

inline

Sets the minimum voltage.

Parameters

value

The voltage. The units of this value are driver-specific and are specified in the Packet Serial chapter of the driver's user manual.

setRamping()

void SabertoothDriver::setRamping ( byte  value ) const

inline

Sets the ramping. Ramping is stored in EEPROM, so changes persist between power cycles.

Parameters

value

The ramping value. Consult the user manual for possible values.

setTimeout()

void SabertoothDriver::setTimeout ( int  milliseconds ) const

inline

Sets the serial timeout.

Parameters

milliseconds

The maximum time in milliseconds between packets. If this time is exceeded, the driver will stop the motors. This value is rounded up to the nearest 100 milliseconds. This library assumes the command value is in units of 100 milliseconds. This is true for most drivers, but not all. Check the packet serial chapter of the driver's user manual to make sure.

stop()

void SabertoothDriver::stop ( ) const

inline

Stops.

turn()

void SabertoothDriver::turn ( int  power ) const

inline

Sets the turning power.

Parameters

power

The power, between -127 and 127.

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The documentation for this class was generated from the following file:

• motor/SabertoothDriver.h