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# Sabertooth.py
# categories: motor
# more info @: http://myrobotlab.org/service/Sabertooth
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# uncomment for virtual hardware
from org.myrobotlab.service import Serial
# virtual = True
 
# sabertooth serial port - if on windows might be COM4
# port = "COM14"
# port = "/dev/ttyUSB0"
# I use udev rules to always make it the same port
port = "/dev/ftdi0"
 
# controller index for the joystick
controllerIndex = 0
 
# start optional virtual serial service, used for test
if ("virtual" in globals() and virtual):
    # use static method Serial.connectVirtualUart to create
    # a virtual hardware uart for the serial service to
    # connect to
    uart = Serial.connectVirtualUart(port)
    uart.logRecv(True) # dump bytes sent from sabertooth
 
# TODO - list & print controllers
# TODO - list & print controllers
# TODO - list & print axis
 
# start the services
sabertooth = runtime.start("sabertooth","Sabertooth")
m1 = runtime.start("m1","MotorPort")
m2 = runtime.start("m2","MotorPort")
joy = runtime.start("joy","Joystick")
 
print(joy.getControllerNames())
 
joy.setController(controllerIndex)
 
# configure services
m1.setPort("m1")
m2.setPort("m2")
 
# in some cases its necessary to "invert" a motor
m1.setInverted(True)
m2.setInverted(True)
 
# attach services
sabertooth.attach(m1)
sabertooth.attach(m2)
m1.attach(joy.getAxis("y"))
m2.attach(joy.getAxis("rz"))
 
# FIXME - sabertooth.attach(motor1) & sabertooth.attach(motor2)
# FIXME - motor1.attach(joystick) !
sabertooth.connect(port)
 
m1.stop();
m2.stop();
 
# call the function autoTest if you want code to
# run through a test vs joystick input
def autoTest():
    # speed up the motor
    for x in range(0,100):
      pwr = x * .01
      print('power ', pwr)
      m1.move(pwr)
      sleep(0.01)
 
    sleep(1)
 
    # slow down the motor
    for x in range(100, -1, -1):
      pwr = x * .01
      print('power ', pwr)
      m1.move(pwr)
      sleep(0.01)
 
    # move motor clockwise
    m1.move(0.3)
    sleep(1)
    m1.stop()
 
    # move motor counter-clockwise
    m1.move(-0.3)
    sleep(1)
    m1.stop()
 
sleep(3)
autoTest()