Data Sheet

www.dimensionengineering.com/products/Sabertooth2x32
Plain Text Serial
Plain text serial mode uses ASCII formatted plain text strings to control the Sabertooth 2x32. This makes
serial communications especially easy, as one can open a terminal window on a PC and start typing
commands, or use a printf command on a microcontroller. Using Plain Text Serial mode allows full
control of the Sabertooth 2x32. The tradeoff is plain text takes more data to send the same information,
so the maximum update rate may be less. Plain text serial has an optional checksum, but by default does
not require one. Data integrity is not assured unless DEScribe is used to make the checksum required.
All commands follow the same format. All commands consist of a two letter destination, followed by a
colon, followed by the command and a newline (Enter key). For example, M1: -532(Enter)
Basic commands
Outputs are controlled by sending the destination address, followed by a colon, followed by the power
setting, followed by a newline. Most settings take commands from -2047 to 2047. Commands outside
this range will be ignored. If you are using a terminal program to command the Sabertooth, remember
that the command only takes effect when you press the Enter key.
Destination address
Description
M1
Motor 1
M2
Motor 2
MD
Drive channel. Both motors .Forward/Backwards in Mixed Mode
MT
Turn channel. Both
motors. Right/Left in Mixed Mode
P1
Power output 1
P2
Power output 2
R1
Ramp rate motor 1
R2
Ramp rate motor 2
Q1
Auxiliary variable 1
Q2
Auxiliary variable 2
Example
Result
M1:
2047
\r\n
Motor 1 will go forward full speed
.
M2:
-
1023
\r\n
Motor 2
will go backwards at half speed
.
M1: 0
\r\n
M2: 0
\r\n
Motors 1 and 2 will stop.
MD: 0
\r\n
MT: -512
\r\n
The robot will turn left at ¼ speed. Please note that to
control using the mixed commands MD and MT, you
must have sent both a turn and a drive command at
some point. Once you have sent them both the first
time, you only have to update the turn or drive
commands as you desire, it is not necessary to always
send them both.
P1: 2047
\r\n
Power output 1 will be set to full power. Note that the
power outputs are only controllable if they are set as
additional output using the DEScribe software.