Sabertooth packetized serial #18
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fix mollies mistake
include/Sabertooth.hpp
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| speed = constrain(speed, 0, 127); | ||
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| int address = 130; |
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this shouldnt be a hardcoded value
include/Sabertooth.hpp
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| byte command; | ||
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| if (motor != 0 || motor != 1) { | ||
| printf("invalid motor"); |
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As of now, debug statements are completely ignored by the Raspberry Pi and if we do implement logging it will have to be a custom solution (we will have to make our own print function, not printf). For now you can remove the print statement and simply do nothing if the function receives bad input data. Definitely still perform the validation though
include/Sabertooth.hpp
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| this->baudrate = baudrate; | ||
| this->serial->begin(baudrate); | ||
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| serial->write(0b10101010); |
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This is a quite mysterious line of code without immediate access to the datasheet. A short explanation would help a lot here
| return; | ||
| } | ||
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| this->serial = serial; |
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Instead of beginning the serial port when the Sabertooth object is created, add an init function which does this stuff. This is mainly cleanup for my previous mistakes but should be included in this review anyways
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Rename this class to SabertoothDriver. This is much more clear about what the purpose of the class is. Again, cleanup for my mistakes but is relevant to this review
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