I did get this one to work so programming wise I will try to build off of it!
// Sweep Sample
// Copyright (c) 2012 Dimension Engineering LLC
// See license.txt for license details.
#include <Servo.h>
Servo ST1, ST2; // We'll name the Sabertooth servo channel objects ST1 and ST2.
// For how to configure the Sabertooth, see the DIP Switch Wizard for
// Sabertooth 2X25, 2X12 and 2X5 DIP switch configuration wizard
// Be sure to select RC Microcontroller Mode for use with this sample.
//
// Connections to make:
// Arduino Pin 9 -> Sabertooth S1
// Arduino Pin 10 -> Sabertooth S2
// Arduino GND -> Sabertooth 0V
// Arduino VIN -> Sabertooth 5V (OPTIONAL, if you want the Sabertooth to power the Arduino)
//
// Sabertooth accepts servo pulses from 1000 us to 2000 us.
// We need to specify the pulse widths in attach(). 0 degrees will be full reverse, 180 degrees will be
// full forward. Sending a servo command of 90 will stop the motor. Whether the servo pulses control
// the motors individually or control throttle and turning depends on your mixed mode setting.
// Notice these attach() calls. The second and third arguments are important.
// With a single argument, the range is 44 to 141 degrees, with 92 being stopped.
// With all three arguments, we can use 0 to 180 degrees, with 90 being stopped.
void setup()
{
ST1.attach( 9, 1000, 2000);
ST2.attach(10, 1000, 2000);
}
void loop()
{
int power;
// Ramp both servo channels from 0 to 180 (full reverse to full forward),
// waiting 20 ms (1/50th of a second) per value.
for (power = 0; power <= 180; power ++)
{
ST1.write(power);
ST2.write(power);
delay(20);
}
// Now go back the way we came.
for (power = 180; power >= 0; power --)
{
ST1.write(power);
ST2.write(power);
delay(20);
}
}