Data Sheet

www.dimensionengineering.com/products/Sabertooth2x32
program, th
ey can be set to any of the
input types.
might return
S2: 2012
\r\n
A1:
get
\r\n
A2: get
\r\n
Returns the input value for the S1 or
S2 inputs. By default these are analog
in USB and serial modes.
A1:
get
\r\n
might return
S1: -2047
\r\n
Extended Get commands
In addition to these values, outputs of the Sabertooth such as motor current and battery voltage can be
read by using the extended get commands. Because each motor has its own current and temperature,
the structure is slightly different. The destination address should be M1 or M2, and then the command
letter is added. On the reply, the type of reading is added before the value. Some values, such as the
battery voltage, are shared between both motors, so polling either M1 or M2 will return the same value.
Command
Result
Examples
M1:
getb
\r\n
M2: getb
\r\n
Returns the battery voltage in tenths
of a volt. A battery reading of 12.5
volts will report as B125
M1: getb
\r\n
might return
M1:B240
\r\n
M1:
getc
\r\n
M2: getc
\r\n
Returns the motor current in tenths of
an amp. Please note this is a noisy
signal and may vary by up to several
amps. This is normal. Positive current
values mean energy is being drawn
from the battery, and negative values
indicate energy is being regenerated
into the battery.
M
1: get
c
\r\n
might return
M1:C320
\r\n
M2: getc
\r\n
might return
M2:C-20
\r\n
M
1:
get
t
\r\n
M2: gett
\r\n
Returns the temperature of the
output transistors for this channel, in
degrees C.
M
1:
get
t
\r\n
might return
M1:T30
\r\n
M2: gett
\r\n
might return
M2:T85
\r\n
Note:
\r\n
is not visible in a terminal program, but must be included when using a function such as scanf
to designate the end of the message.
Additional commands
Command
Result
Examples
M1:shutdown
\r\n
M2:shutdown
\r\n
Shuts off the motor output. Using the
shutdown command will put the
motor in a hard brake state.
M1: shutdown
\r\n
M2: shutdown
\r\n
M1:startup
\r\n
M2:startup
\r\n
Returns the motor channel from a
shutdown state to normal operation.
M1:
startup
\r\n
M2: startup
\r\n