# saberrs [![crates.io version badge](https://img.shields.io/crates/v/saberrs.svg)](https://crates.io/crates/saberrs) [![Documentation](https://docs.rs/saberrs/badge.svg)](https://docs.rs/saberrs) ![License](https://img.shields.io/crates/l/log.svg) ![CI](https://github.com/fparat/saberrs/workflows/Rust/badge.svg) `saberrs` is a library for interfacing with [Dimension Engineering] Sabertooth motor driver. Currently only the Sabertooth 2x32 is supported. Full documentation: https://docs.rs/saberrs ## Simple usage In `Cargo.toml`: ```toml [dependencies] saberrs = "0.3" ``` In application code: ```rust use saberrs::sabertooth2x32::{Sabertooth2x32, PacketSerial}; // Create a handle. This will use "PacketSerial" protocol. let mut saber = PacketSerial::new("/dev/ttyS0")?; // Go forward at half-speed (50.0%) saber.set_drive(0.5)?; saber.set_turn(0.0)?; // Request the battery voltage from motor 1. let vbat : f32 = saber.get_voltage(1)?; // Stop the motors saber.stop_motors()?; ``` Other protocol variants can be used: ```rust use saberrs::sabertooth2x32::{Sabertooth2x32, PacketSerial, PacketType, PlainText}; // "PacketSerial" with specified address and frame protection type (checksum or crc). let mut saber = PacketSerial::new("/dev/ttyS0")? .with_packet_type(PacketType::Checksum) .with_address(129); // "PlainText" protocol let mut sabertext = PlainText::new("/dev/ttyS1")?; ``` ## Features and dependencies Features: - `serialport`, enabled by default, for providing default serial IO handlers. Dependencies: - [serialport] for the `serialport` feature. - [log] for emitting logs. ## License Licensed under either of * Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0) * MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT) at your option. ## Contribution Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions. ## Disclaimer This library is not affiliated or associated in any way with Dimension Engineering. All product and company names are trademarks or registered trademarks of their respective holders. Use of them does not imply any affiliation with or endorsement by them. [Dimension Engineering]: https://www.dimensionengineering.com [serialport]: https://crates.io/crates/serialport [log]: https://crates.io/crates/log