SyRen/Sabertooth Packet Serial Library for Arduino
Control your SyRen or Sabertooth with reliable Packet Serial.
1.Basics/Jolty/Jolty.ino

Goes in one direction, stops, and then goes in the other direction.

// Jolty Sample for Packet Serial
// Copyright (c) 2012 Dimension Engineering LLC
// See license.txt for license details.
#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);
}