Sabertooth.h

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/*
Arduino Library for SyRen/Sabertooth Packet Serial
Copyright (c) 2012-2013 Dimension Engineering LLC
http://www.dimensionengineering.com/arduino

Permission to use, copy, modify, and/or distribute this software for any
purpose with or without fee is hereby granted, provided that the above
copyright notice and this permission notice appear in all copies.

THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE
USE OR PERFORMANCE OF THIS SOFTWARE.
*/

#ifndef Sabertooth_h
#define Sabertooth_h   

#if defined(ARDUINO) && ARDUINO >= 100
#include <Arduino.h>
typedef Stream SabertoothStream;
#else
#include <WProgram.h>
typedef Print SabertoothStream;
#endif

#if defined(USBCON)
#define SabertoothTXPinSerial Serial1 // Arduino Leonardo has TX->1 on Serial1, not Serial.
#else
#define SabertoothTXPinSerial Serial1
#endif
#define SyRenTXPinSerial SabertoothTXPinSerial

class Sabertooth
{
public:
  Sabertooth(byte address);
  
  Sabertooth(byte address, SabertoothStream& port);

public:
  inline byte address() const { return _address; }
  
  inline SabertoothStream& port() const { return _port; }

  void autobaud(boolean dontWait = false) const;
  
  static void autobaud(SabertoothStream& port, boolean dontWait = false);
  
  void command(byte command, byte value) const;
  
public:
  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;
  
public:
  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;
  
private:
  void throttleCommand(byte command, int power) const;
  
private:
  const byte        _address;
  SabertoothStream& _port; 
};

#endif