[−][src]Crate saberrs

saberrs is a library for interfacing with Dimension Engineering Sabertooth motor driver.

Currently only the Sabertooth 2x32 is supported.

Simple usage

use saberrs::sabertooth2x32;
use saberrs::Result;
use saberrs::sabertooth2x32::Sabertooth2x32;

// Create a handle. This will use "PacketSerial" protocol.
let mut saber = sabertooth2x32::PacketSerial::new("/dev/ttyS0")?;

// Go forward at half-speed (50.0%)
saber.set_drive(50.0)?;
saber.set_turn(0.0)?;

// Request the battery voltage from motor 1.
let vbat : f32 = saber.get_voltage(1)?;

// Stop the motors
saber.stop_motors()?;

Other protocol variants can be used:

 use saberrs::sabertooth2x32;
 use saberrs::sabertooth2x32::{Sabertooth2x32, PacketType};
 use saberrs::Result;

// "PacketSerial" with specified address and frame protection type.
let mut saber = sabertooth2x32::PacketSerial::new("/dev/ttyS0")?
    .with_packet_type(PacketType::Checksum)
    .with_address(129);

// "PlainText" protocol
let mut sabertext = sabertooth2x32::PlainText::new("/dev/ttyS1")?;

The serial port is encapsulated in a trait SabertoothSerial, implemented by SabertoothPort and SabertoothPortShared, which allow to manually specify some serial port settings (although there are far less options than a raw serial port), or mix multiple protocols (PacketSerial or PlainText).

License

Licensed under either of

Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

Disclaimer

This library is not affiliated or associated in any way with Dimension Engineering.

All product and company names are trademarks or registered trademarks of their respective holders. Use of them does not imply any affiliation with or endorsement by them.

Modules

sabertooth2x32

Interface for the Sabertooth 2x32.

Structs

Error	Error type used in the crate.
SabertoothPort	Raw Sabertooth controller.
SabertoothPortShared	Clonable variant of SabertoothPort.