//192 is soft stop #define SABER_MOTOR2_FULL_FORWARD 255 #define SABER_MOTOR2_FULL_REVERSE 128 // Motor level to send when issuing the full stop command #define SABER_ALL_STOP 0 SoftwareSerial SaberSerial = SoftwareSerial( SABER_RX_PIN, SABER_TX_PIN ); // Setting up the actuator pots, connected to a8-a11: //analogRead(Actuatorx) reads in the value from the pin. int Actuator1 = A8; // selects the input pins for the actuator pot int Actuator2 = A9; int Actuator3 = A10; int Actuator4 = A11; // places to store actuator loaction values int Actuator1Value = 0; int Actuator2Value = 0; int Actuator3Value = 0; int Actuator4Value = 0; //setting up select pins. 52 in motor controller 1, 53 is motor controller 2 int MC1 = 52; int MC2 = 53; void initSabertooth( void ) { // Init software UART to communicate // with the Sabertooth 2x5 pinMode( SABER_TX_PIN, OUTPUT );
//192 is soft stop #define SABER_MOTOR2_FULL_FORWARD 255 #define SABER_MOTOR2_FULL_REVERSE 128 // Motor level to send when issuing the full stop command #define SABER_ALL_STOP 0 SoftwareSerial SaberSerial = SoftwareSerial( SABER_RX_PIN, SABER_TX_PIN ); // Setting up the actuator pots, connected to a8-a11: //analogRead(Actuatorx) reads in the value from the pin. int Actuator1 = A8; // selects the input pins for the actuator pot int Actuator2 = A9; int Actuator3 = A10; int Actuator4 = A11; // places to store actuator loaction values int Actuator1Value = 0; int Actuator2Value = 0; int Actuator3Value = 0; int Actuator4Value = 0; //setting up select pins. 52 in motor controller 1, 53 is motor controller 2 int MC1 = 52; int MC2 = 53; void initSabertooth( void ) { // Init software UART to communicate // with the Sabertooth 2x5 pinMode( SABER_TX_PIN, OUTPUT );
H4.%20Gaskin-%20Linear%20Actuators.docx