97 lines
2.4 KiB
C
97 lines
2.4 KiB
C
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/*
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Arduino Library for Sabertooth Simplified Serial
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Copyright (c) 2012-2013 Dimension Engineering LLC
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http://www.dimensionengineering.com/arduino
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Permission to use, copy, modify, and/or distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
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copyright notice and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
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SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
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RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
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NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE
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USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#ifndef SabertoothSimplified_h
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#define SabertoothSimplified_h
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#if defined(ARDUINO) && ARDUINO >= 100
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#include <Arduino.h>
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#else
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#include <WProgram.h>
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#endif
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#if defined(USBCON)
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#define SabertoothTXPinSerial Serial1 // Arduino Leonardo has TX->1 on Serial1, not Serial.
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#else
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#define SabertoothTXPinSerial Serial
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#endif
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#define SyRenTXPinSerial SabertoothTXPinSerial
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/*!
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\class SabertoothSimplified
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\brief Controls a %Sabertooth motor driver running in Simplified Serial mode.
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*/
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class SabertoothSimplified
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{
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public:
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/*!
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Initializes a new instance of the SabertoothSimplified class.
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The Arduino TX serial port is used.
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*/
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SabertoothSimplified();
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/*!
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Initializes a new instance of the SabertoothSimplified class.
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The specified serial port is used.
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\param port The port to use.
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*/
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SabertoothSimplified(Print& port);
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public:
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/*!
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Sets the power of motor 1.
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\param power The power, between -127 and 127.
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*/
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void motor(int power);
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/*!
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Sets the power of the specified motor.
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\param motor The motor number, 1 or 2.
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\param power The power, between -127 and 127.
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*/
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void motor(byte motor, int power);
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/*!
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Sets the driving power.
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\param power The power, between -127 and 127.
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*/
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void drive(int power);
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/*!
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Sets the turning power.
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\param power The power, between -127 and 127.
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*/
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void turn(int power);
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/*!
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Stops.
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*/
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void stop();
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private:
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void mixedMode(boolean enable);
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void mixedUpdate();
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void raw(byte motor, int power);
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private:
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boolean _mixed;
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int _mixedDrive, _mixedTurn;
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boolean _mixedDriveSet, _mixedTurnSet;
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Print& _port;
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};
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#endif
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