Sabertooth

java.lang.Object
- org.myrobotlab.framework.MessageService
- - org.myrobotlab.framework.Service
  - - org.myrobotlab.service.abstracts.AbstractMotorController
    - - org.myrobotlab.service.Sabertooth

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, MotorController, PortConnector, QueueReporter
```
public class Sabertooth
extends AbstractMotorController
implements PortConnector, MotorController
```
SaberTooth - SaberTooth service for the sabertooth motor controller command More Info: http://www.dimensionengineering.com/datasheets/Sabertooth2x25.pdf Packet PseudoCode Putc(address); Putc(0); Putc(speed); Putc((address + 0 + speed) & 0b01111111);

Author:

GroG

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`INPUT`
`static org.slf4j.Logger`	`log`
`static int`	`MOTOR1_BACKWARD`
`static int`	`MOTOR1_FORWARD`
`static int`	`MOTOR2_BACKWARD`
`static int`	`MOTOR2_FORWARD`
`static int`	`OUTPUT`
`static int`	`PACKETIZED_SERIAL_MODE`
`static int`	`PINMODE`
`static int`	`SET_MAX_VOLTAGE`
`static int`	`SET_MIN_VOLTAGE`

Fields inherited from class org.myrobotlab.framework.Service
cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors
Constructor and Description

Sabertooth(java.lang.String n)

Constructors
Constructor and Description
`Sabertooth(java.lang.String n)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`attach(Attachable service)` Routing Attach - routes ServiceInterface.attach(service) to appropriate methods for this class
`void`	`connect(java.lang.String port)`
`void`	`connect(java.lang.String port, int rate)`
`void`	`connect(java.lang.String port, int rate, int databits, int stopbits, int parity)` Sabertooth is a serial device, so it has a PortConnector interface.
`void`	`detach()` detaches ALL other services from this service
`void`	`detach(MotorControl device)`
`void`	`disconnect()`
`void`	`driveBackwardsMotor1(int speed)`
`void`	`driveBackwardsMotor2(int speed)`
`void`	`driveForwardMotor1(int speed)`
`void`	`driveForwardMotor2(int speed)`
`java.util.Set<java.lang.String>`	`getAttached()` returns all currently attached services
`static ServiceType`	`getMetaData()` This static method returns all the details of the class without it having to be constructed.
`java.util.List<java.lang.String>`	`getPorts()` if the motor controller uses ports - this method will return a list of ports
`SerialDevice`	`getSerial()`
`boolean`	`isAttached(Attachable service)` the "routing" isAttached - when overridden by a service this "routes" to the appropriate typed isAttached
`boolean`	`isConnected()`
`static void`	`main(java.lang.String[] args)`
`boolean`	`motorDetach(java.lang.String name)`
`void`	`motorMove(MotorControl mc)` request for motor to move the motor can be queried for the new powerlevel and the controller shall appropriately change power level and direction if necessary
`void`	`motorMove(java.lang.String name)`
`void`	`motorMoveTo(MotorControl motor)` moveTo - move the MotorControl a relative amount the amount can be negative or positive an integer value is expected param name - name of the MotorControl param position - positive or negative absolute amount to move the MotorControl
`void`	`motorMoveTo(java.lang.String name, java.lang.Integer position)`
`void`	`motorReset(MotorControl motor)` method for resetting all the variables of a motor this will reset counters if the motor is a stepper and / or other variables for other sorts of motors
`void`	`motorStop(MotorControl motor)` stops the motor
`void`	`sendPacket(int command, int data)`
`void`	`setAddress(java.lang.Integer address)`
`void`	`setMaxVoltage(int maxVolts)`
`void`	`setMinVoltage(int min)`

Methods inherited from class org.myrobotlab.framework.Service
addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, echoHeartbeat, error, error, error, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, startService, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.myrobotlab.framework.interfaces.Attachable
attach, detach, detach, isAttached, isLocal

Methods inherited from interface org.myrobotlab.framework.interfaces.NameProvider
getName

- Field Detail
  - PACKETIZED_SERIAL_MODE
```
public static final int PACKETIZED_SERIAL_MODE
```
    See Also:
    
    Constant Field Values
  - PINMODE
```
public static final int PINMODE
```
    See Also:
    
    Constant Field Values
  - log
```
public static final org.slf4j.Logger log
```
  - INPUT
```
public static final int INPUT
```
    See Also:
    
    Constant Field Values
  - OUTPUT
```
public static final int OUTPUT
```
    See Also:
    
    Constant Field Values
  - MOTOR1_FORWARD
```
public static final int MOTOR1_FORWARD
```
    See Also:
    
    Constant Field Values
  - MOTOR1_BACKWARD
```
public static final int MOTOR1_BACKWARD
```
    See Also:
    
    Constant Field Values
  - SET_MIN_VOLTAGE
```
public static final int SET_MIN_VOLTAGE
```
    See Also:
    
    Constant Field Values
  - SET_MAX_VOLTAGE
```
public static final int SET_MAX_VOLTAGE
```
    See Also:
    
    Constant Field Values
  - MOTOR2_FORWARD
```
public static final int MOTOR2_FORWARD
```
    See Also:
    
    Constant Field Values
  - MOTOR2_BACKWARD
```
public static final int MOTOR2_BACKWARD
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Sabertooth
```
public Sabertooth(java.lang.String n)
```
- Method Detail
  - connect
```
public void connect(java.lang.String port)
             throws java.lang.Exception
```
    Specified by:
    
    connect in interface PortConnector
    
    Throws:
    
    java.lang.Exception
  - disconnect
```
public void disconnect()
                throws java.io.IOException
```
    Specified by:
    
    disconnect in interface PortConnector
    
    Throws:
    
    java.io.IOException
  - driveBackwardsMotor1
```
public void driveBackwardsMotor1(int speed)
```
  - driveBackwardsMotor2
```
public void driveBackwardsMotor2(int speed)
```
  - driveForwardMotor1
```
public void driveForwardMotor1(int speed)
```
  - driveForwardMotor2
```
public void driveForwardMotor2(int speed)
```
  - motorDetach
```
public boolean motorDetach(java.lang.String name)
```
  - motorMove
```
public void motorMove(java.lang.String name)
```
  - motorMoveTo
```
public void motorMoveTo(java.lang.String name,
                        java.lang.Integer position)
```
  - sendPacket
```
public void sendPacket(int command,
                       int data)
```
  - setAddress
```
public void setAddress(java.lang.Integer address)
```
  - setMaxVoltage
```
public void setMaxVoltage(int maxVolts)
```
  - setMinVoltage
```
public void setMinVoltage(int min)
```
  - getSerial
```
public SerialDevice getSerial()
```
  - motorMove
```
public void motorMove(MotorControl mc)
```
    Description copied from interface: MotorController
    
    request for motor to move the motor can be queried for the new powerlevel and the controller shall appropriately change power level and direction if necessary
    
    Specified by:
    
    motorMove in interface MotorController
    
    Parameters:
    
    mc - the motor that will be moved
  - motorMoveTo
```
public void motorMoveTo(MotorControl motor)
```
    Description copied from interface: MotorController
    
    moveTo - move the MotorControl a relative amount the amount can be negative or positive an integer value is expected param name - name of the MotorControl param position - positive or negative absolute amount to move the MotorControl
    
    Specified by:
    
    motorMoveTo in interface MotorController
    
    Parameters:
    
    motor - the motor that will be moved
  - motorStop
```
public void motorStop(MotorControl motor)
```
    Description copied from interface: MotorController
    
    stops the motor
    
    Specified by:
    
    motorStop in interface MotorController
    
    Parameters:
    
    motor - the motor that will be stopped
  - isConnected
```
public boolean isConnected()
```
    Specified by:
    
    isConnected in interface PortConnector
  - motorReset
```
public void motorReset(MotorControl motor)
```
    Description copied from interface: MotorController
    
    method for resetting all the variables of a motor this will reset counters if the motor is a stepper and / or other variables for other sorts of motors
    
    Specified by:
    
    motorReset in interface MotorController
    
    Parameters:
    
    motor - the motor that will be reset
  - getMetaData
```
public static ServiceType getMetaData()
```
    This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.
    
    Returns:
    
    ServiceType - returns all the data
  - connect
```
public void connect(java.lang.String port,
                    int rate,
                    int databits,
                    int stopbits,
                    int parity)
             throws java.lang.Exception
```
    Sabertooth is a serial device, so it has a PortConnector interface.
    
    Specified by:
    
    connect in interface PortConnector
    
    Throws:
    
    java.lang.Exception
  - detach
```
public void detach(MotorControl device)
```
  - getPorts
```
public java.util.List<java.lang.String> getPorts()
```
    Description copied from interface: MotorController
    
    if the motor controller uses ports - this method will return a list of ports
    
    Specified by:
    
    getPorts in interface MotorController
    
    Returns:
  - getAttached
```
public java.util.Set<java.lang.String> getAttached()
```
    Description copied from class: Service
    
    returns all currently attached services
    
    Specified by:
    
    getAttached in interface Attachable
    
    Overrides:
    
    getAttached in class Service
    
    Returns:
    
    the set of attached service names to this service
  - attach
```
public void attach(Attachable service)
            throws java.lang.Exception
```
    Routing Attach - routes ServiceInterface.attach(service) to appropriate methods for this class
    
    Specified by:
    
    attach in interface Attachable
    
    Overrides:
    
    attach in class Service
    
    Parameters:
    
    service - - the service to attach from this service
    
    Throws:
    
    java.lang.Exception - - throws on error and cannot attach
  - isAttached
```
public boolean isAttached(Attachable service)
```
    Description copied from class: Service
    
    the "routing" isAttached - when overridden by a service this "routes" to the appropriate typed isAttached
    
    Specified by:
    
    isAttached in interface Attachable
    
    Overrides:
    
    isAttached in class Service
    
    Parameters:
    
    service - - referenced service to test
    
    Returns:
    
    true if service is already attached false otherwise
  - connect
```
public void connect(java.lang.String port,
                    int rate)
             throws java.lang.Exception
```
    Specified by:
    
    connect in interface PortConnector
    
    Throws:
    
    java.lang.Exception
  - detach
```
public void detach()
```
    Description copied from class: Service
    
    detaches ALL other services from this service
    
    Specified by:
    
    detach in interface Attachable
    
    Overrides:
    
    detach in class Service
  - main
```
public static void main(java.lang.String[] args)
```

Class Sabertooth

Field Summary

Fields inherited from class org.myrobotlab.framework.Service

Constructor Summary

Method Summary

Methods inherited from class org.myrobotlab.framework.Service

Methods inherited from class java.lang.Object

Methods inherited from interface org.myrobotlab.framework.interfaces.Attachable

Methods inherited from interface org.myrobotlab.framework.interfaces.NameProvider

Field Detail

PACKETIZED_SERIAL_MODE

PINMODE

log

INPUT

OUTPUT

MOTOR1_FORWARD

MOTOR1_BACKWARD

SET_MIN_VOLTAGE

SET_MAX_VOLTAGE

MOTOR2_FORWARD

MOTOR2_BACKWARD

Constructor Detail

Sabertooth

Method Detail

connect

disconnect

driveBackwardsMotor1

driveBackwardsMotor2

driveForwardMotor1

driveForwardMotor2

motorDetach

motorMove

motorMoveTo

sendPacket

setAddress

setMaxVoltage

setMinVoltage

getSerial

motorMove

motorMoveTo

motorStop

isConnected

motorReset

getMetaData

connect

detach

getPorts

getAttached

attach

isAttached

connect

detach

main