I'm using wheelchair motors for the main movement. that's the need to get going. it's a full sized one.
I've tried the jolty example and was successful in getting that to run, however all that does is run a short program to turn a motor clockwise or counter clockwise for 2 seconds with a delay between.
Code for example here:
// Jolty Sample for Packet Serial
// Copyright (c) 2012 Dimension Engineering LLC
// See license.txt for license details. https://www.dimensionengineering.com/software/SabertoothArduinoLibrary/html/class_sabertooth.html#a1897c15b53d2eb6cd59b5b1c1254fbf1
#include <Sabertooth.h>
Sabertooth ST(128); // The Sabertooth is on address 128. We'll name its object ST.
// If you've set up your Sabertooth on a different address, of course change
// that here. For how to configure address, etc. see the DIP Switch Wizard for
// Sabertooth - http://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm
// SyRen - http://www.dimensionengineering.com/datasheets/SyrenDIPWizard/start.htm
// Be sure to select Packetized Serial Mode for use with this library.
//
// On that note, you can use this library for SyRen just as easily.
// The diff-drive commands (drive, turn) do not work on a SyRen, of course, but it will respond correctly
// if you command motor 1 to do something (ST.motor(1, ...)), just like a Sabertooth.
//
// In this sample, hardware serial TX connects to S1.
// See the SoftwareSerial example in 3.Advanced for how to use other pins.
void setup()
{
SabertoothTXPinSerial.begin(9600); // 9600 is the default baud rate for Sabertooth packet serial.
ST.autobaud(); // Send the autobaud command to the Sabertooth controller(s).
// NOTE: *Not all* Sabertooth controllers need this command.
// It doesn't hurt anything, but V2 controllers use an
// EEPROM setting (changeable with the function setBaudRate) to set
// the baud rate instead of detecting with autobaud.
//
// If you have a 2x12, 2x25 V2, 2x60 or SyRen 50, you can remove
// the autobaud line and save yourself two seconds of startup delay.
}
void loop()
{
ST.motor(1, 127); // Go forward at full power.
delay(2000); // Wait 2 seconds.
ST.motor(1, 0); // Stop.
delay(2000); // Wait 2 seconds.
ST.motor(1, -127); // Reverse at full power.
delay(2000); // Wait 2 seconds.
ST.motor(1, 0); // Stop.
delay(2000);
}
I then worked on seeing if I could get the controller to work with the ardunio which I use the example xboxrecv from the usb host shield 2.0 library. I was successful in this as the example just tells you what button you are pressing in the serial monitor.
the code for this example can be found here:
/*
Example sketch for the Xbox Wireless Reciver library - developed by Kristian Lauszus
It supports up to four controllers wirelessly
For more information see the blog post: http://blog.tkjelectronics.dk/2012/12/xbox-360-receiver-added-to-the-usb-host-library/ or
send me an e-mail: kristianl@tkjelectronics.com
*/
#include <XBOXRECV.h>
// Satisfy the IDE, which needs to see the include statment in the ino too.
#ifdef dobogusinclude
#include <spi4teensy3.h>
#include <SPI.h>
#endif
USB Usb;
XBOXRECV Xbox(&Usb);
void setup() {
Serial.begin(115200);
#if !defined(__MIPSEL__)
while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
#endif
if (Usb.Init() == -1) {
Serial.print(F("\r\nOSC did not start"));
while (1); //halt
}
Serial.print(F("\r\nXbox Wireless Receiver Library Started"));
}
void loop() {
Usb.Task();
if (Xbox.XboxReceiverConnected) {
for (uint8_t i = 0; i < 4; i++) {
if (Xbox.Xbox360Connected[i]) {
if (Xbox.getButtonPress(L2, i) || Xbox.getButtonPress(R2, i)) {
Serial.print("L2: ");
Serial.print(Xbox.getButtonPress(L2, i));
Serial.print("\tR2: ");
Serial.println(Xbox.getButtonPress(R2, i));
Xbox.setRumbleOn(Xbox.getButtonPress(L2, i), Xbox.getButtonPress(R2, i), i);
}
if (Xbox.getAnalogHat(LeftHatX, i) > 7500 || Xbox.getAnalogHat(LeftHatX, i) < -7500 || Xbox.getAnalogHat(LeftHatY, i) > 7500 || Xbox.getAnalogHat(LeftHatY, i) < -7500 || Xbox.getAnalogHat(RightHatX, i) > 7500 || Xbox.getAnalogHat(RightHatX, i) < -7500 || Xbox.getAnalogHat(RightHatY, i) > 7500 || Xbox.getAnalogHat(RightHatY, i) < -7500) {
if (Xbox.getAnalogHat(LeftHatX, i) > 7500 || Xbox.getAnalogHat(LeftHatX, i) < -7500) {
Serial.print(F("LeftHatX: "));
Serial.print(Xbox.getAnalogHat(LeftHatX, i));
Serial.print("\t");
}
if (Xbox.getAnalogHat(LeftHatY, i) > 7500 || Xbox.getAnalogHat(LeftHatY, i) < -7500) {
Serial.print(F("LeftHatY: "));
Serial.print(Xbox.getAnalogHat(LeftHatY, i));
Serial.print("\t");
}
if (Xbox.getAnalogHat(RightHatX, i) > 7500 || Xbox.getAnalogHat(RightHatX, i) < -7500) {
Serial.print(F("RightHatX: "));
Serial.print(Xbox.getAnalogHat(RightHatX, i));
Serial.print("\t");
}
if (Xbox.getAnalogHat(RightHatY, i) > 7500 || Xbox.getAnalogHat(RightHatY, i) < -7500) {
Serial.print(F("RightHatY: "));
Serial.print(Xbox.getAnalogHat(RightHatY, i));
}
Serial.println();
}
if (Xbox.getButtonClick(UP, i)) {
Xbox.setLedOn(LED1, i);
Serial.println(F("Up"));
}
if (Xbox.getButtonClick(DOWN, i)) {
Xbox.setLedOn(LED4, i);
Serial.println(F("Down"));
}
if (Xbox.getButtonClick(LEFT, i)) {
Xbox.setLedOn(LED3, i);
Serial.println(F("Left"));
}
if (Xbox.getButtonClick(RIGHT, i)) {
Xbox.setLedOn(LED2, i);
Serial.println(F("Right"));
}
if (Xbox.getButtonClick(START, i)) {
Xbox.setLedMode(ALTERNATING, i);
Serial.println(F("Start"));
}
if (Xbox.getButtonClick(BACK, i)) {
Xbox.setLedBlink(ALL, i);
Serial.println(F("Back"));
}
if (Xbox.getButtonClick(L3, i))
Serial.println(F("L3"));
if (Xbox.getButtonClick(R3, i))
Serial.println(F("R3"));
if (Xbox.getButtonClick(L1, i))
Serial.println(F("L1"));
if (Xbox.getButtonClick(R1, i))
Serial.println(F("R1"));
if (Xbox.getButtonClick(XBOX, i)) {
Xbox.setLedMode(ROTATING, i);
Serial.print(F("Xbox (Battery: "));
Serial.print(Xbox.getBatteryLevel(i)); // The battery level in the range 0-3
Serial.println(F(")"));
}
if (Xbox.getButtonClick(SYNC, i)) {
Serial.println(F("Sync"));
Xbox.disconnect(i);
}
if (Xbox.getButtonClick(A, i))
Serial.println(F("A"));
if (Xbox.getButtonClick(B, i))
Serial.println(F("B"));
if (Xbox.getButtonClick(X, i))
Serial.println(F("X"));
if (Xbox.getButtonClick(Y, i))
Serial.println(F("Y"));
}
}
}
}
(Is it so hard to add code tags around code listing! C'mon folks ...)