Data Sheet

www.dimensionengineering.com/products/Sabertooth2x32
Packet Serial
Packet serial mode uses much the same commands as plain text serial mode, but does so in a more
compact binary communication protocol with a reliable checksum or CRC. There are open source
libraries for Arduino and C# and sample code for both on the Dimension Engineering website, as well as
documentation on the protocol itself.
Legacy Packet Serial
For compatibility with existing programs, Sabertooth 2x32 supports the same 4 character packet serial
commands as previous generation Sabertooth motor drivers. Using these commands only allow for 8
bits of motor output precision, and does not have a robust CRC as the new packet serial commands do,
but they work acceptably in most applications. The Sabertooth 2x32 will automatically differentiate
between the legacy and new commands, so the setup is the same as for Packet Serial. Using the legacy
commands does not allow motor driver information such as battery voltage, temperatures or currents
to be read back from the Sabertooth.
The legacy packet serial commands are documented in a separate application note on Dimension
Engineering’s website.
Legacy Simplified Serial
For compatibility with existing programs, Sabertooth 2x32 supports Legacy Simplified Serial mode, which
is the same as Simplified Serial mode on previous generation motor drivers. The DIP switch settings are
different, and the auxiliary inputs are not used.