| Library | Download |
|---|---|
|
Arduino Libraries for SyRen/Sabertooth Serial (includes examples) v1.4 by Dimension Engineering |
Installer (for Windows) or .zip File Documentation SyRen/Sabertooth Packet Serial Sabertooth Simplified Serial SyRen Simplified Serial |
|
Arduino Examples for SyRen/Sabertooth R/C Mode v1.1 by Dimension Engineering |
.zip File |
|
Arduino Library for Kangaroo Packet Serial (includes examples) v1.0.4 by Dimension Engineering |
Installer (for Windows) or .zip File Documentation |
| Comments, questions, suggestions? Let us know! |
Which mode should I use with my motor driver?
| Mode | Advantages | Disadvantages |
|---|---|---|
| Packet Serial |
Most powerful Control up to 8 SyRen/Sabertooth per pin SyRen and Sabertooth use the same 8-bit commands Commands are checksummed for reliability Setting commands for ramp time, deadband, etc. |
V2 controllers: Baud rate changes require a command V1 controllers: Autobaud requires low startup transients |
| Simplified Serial |
Beginner-friendly Fast single byte commands Baud rate settable with DIP switches |
7-bit on Sabertooth No checksumming Requires one pin per SyRen or Sabertooth |
| R/C Microcontroller |
Control each motor with servo commands Use 3-argument init: servo.attach(pin, 1000, 2000); Compatible with R/C versions of Sabertooth Servo library comes with Arduino software 0°-90° (1000-1500 μs) reverses 90°-180° (1500-2000 μs) goes forward 90° (1500 μs) stops |
Requires one pin per motor Not as precise, sensitive to timing jitter |
Packet Serial FAQ
Which motor drivers use autobauding in packet serial?
V1 motor drivers use autobauding. The list of V1 motor drivers is as follows:
- SyRen 10
- SyRen 25
- Sabertooth 2X5
- Sabertooth 2X10
- Sabertooth 2X25 V1
V2 and newer motor drivers store their baud rate in an EEPROM setting (the factory default is 9600).
I have a V1 motor driver and the Sweep packet serial sample only moves forward and stops at 9600.
We've run into this with the Arduino Uno and Sabertooth 2X5. There is a startup transient
on the Uno that the Sabertooth sees as a very fast autobaud character. As a result it
autobauds at its maximum baud rate, 38400. Changing the Serial.begin(9600); line to
Serial.begin(38400); got things running for us.