User Guide

6: Drive motor 1 7 bit (decimal 6, binary 0b00000110, hex 0h06)
This command is used to drive motor 1. Instead of the standard commands 0 and 1, this one
command can be used to drive motor 1 forward or in reverse, at a cost of lower resolution. A
command of 0 will correspond to full reverse, and a command of 127 will command the motor to
drive full forward. A command of 64 will stop the motor.
7: Drive motor 2 7 bit (decimal 7, binary 0b00000111, hex 0h07)
This command is used to drive motor 2. Instead of the standard commands 4 and 5, this one
command can be used to drive motor 1 forward or in reverse, at a cost of lower resolution. A
command of 0 will correspond to full reverse, and a command of 127 will command the motor to
drive full forward. A command of 64 will stop the motor.
Mixed mode commands
Sabertooth can also be sent mixed drive and turn commands. When using the mixed mode
commands, please note that the Sabertooth requires valid data for both drive and turn before it
will begin to operate. Once data for both has been sent, then each may be updated as needed, it is
not necessary to send both data packets each time you with to update the speed or direction. You
should design your code to either use the independent or the mixed commands. Switching
between the command sets will cause the vehicle to stop until new data is sent for both motors.
8: Drive forward mixed mode (decimal 8, binary 0b00001000, hex 0h08)
This is used to command the vehicle to drive forward in mixed mode. Valid data is 0-127 for off
to full forward drive.
9: Drive backwards mixed mode (decimal 9, binary 0b00001001, hex 0h09)
This is used to command the vehicle to drive backwards in mixed mode. Valid data is 0-127 for
off to full reverse drive.
10: Turn right mixed mode (decimal 10, binary 0b00001010, hex 0h0a)
This is used to command the vehicle to turn right in mixed mode. Valid data is 0-127 for zero to
maximum turning speed.
11: Drive turn left mixed mode (decimal 11, binary 0b00001011, hex 0h0b)
This is used to command the vehicle to turn leftt in mixed mode. Valid data is 0-127 for zero to
maximum turning speed.
12: Drive forwards/back 7 bit (decimal 12, binary 0b00001100, hex 0h0c)
This is used to command the vehicle to move forwards or backwards. A command of 0 will
cause maximum reverse, 64 will cause the vehicle to stop, and 127 will command full forward.
13: Turn 7 bit (decimal 13, binary 0b00001101, hex 0h0d)
This is used to command the vehicle turn right or left. A command of 0 will cause maximum left
turn rate, 64 will cause the vehicle to stop turning , and 127 will command maximum right turn
rate.