Hi, I have a Dimension Engineering (DE) Sabertooth / Kangaroo setup driving my mixed mode 2 wheel differential drive bot.
I am more of a hardware guy and am having trouble understanding how to use the packetized serial library that Dimension Engineering provides.
I am using an arduino mega2560 to sentd packetized serial commands to the kangaroo. I have it driving forward and reverse with velocity (S) commands and turning with position (Pi) commands.
I have not figured out how to process the return values from the Drive and Turn commands and am lost with how to use the Status and Monitor commands.
Has anybody figured out these things? I am hoping that someone here will point me in the right direction.
The DE Kangaroo arduino class libraries appear to be written by a C++ genius which I am not. I can't make out how to use the error, status and monitoring objects. If anybody that knows C++ could download their class libraries and take a look at them I would really appreciate it.
I can share my kangaroo test code if anybody wants to take a look.
There is a video by DE showing Kangaroo Drive Mode Autotune procedure. The Kangaroo user manual does not document this procedure. I wrote a 'How To' procedure which describes my 2 wheel differential drive (aka Kangaroo Mixed Mode) setup and the steps to do the autotune. The robot can now be driven using a RC transmitter and receiver or packetized serial commands or 2 PWM signals from a microcontroller.
I will post my 'How To' word doc if anyone would like to use it.
Thanks in advance for your help.