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/* Start button is Digital Pin 7, SyRen S1 is connected to Arduino Digital Pin 1 (TX), Proximities are Digital Pins 2 and 3, Pots are Analog Pins 1 and 2 */

 

#include <SyRenSimplified.h>

const int StopButton = 7;

const int ForwardButton = 3;   

const int ReverseButton = 2;

const int ForwardSpeedPin = A1;

const int ReverseSpeedPin = A2;

 

int ForwardState = 0;

int ReverseState = 0;

int StopState = 0;

int ForwardSpeed = 0;

int ReverseSpeed = 0;

int CurrentState = 0;  // 0 is stopped, 1 is forward, 2 is reverse

 

SyRenSimplified ST; // Simplified Serial Mode. Baud rate of 9600. Arduino TX->1  ->  Sabertooth S1   Arduino GND    ->  Sabertooth 0V      [ST.motor(1, X);  X of 0 is full reverse, 128 is stop, 255 full forward] <--- WRONG!  -127 full reverse, 0 stop, 127 full forward

 

void setup()

  {

  SyRenTXPinSerial.begin(9600); // This is the baud rate you chose with the DIP switches.  

  ST.motor(1, 0);   

  

  ForwardState = digitalRead(ForwardButton);

  ReverseState = digitalRead(ReverseButton);

  ForwardSpeed = analogRead(ForwardSpeedPin);

  ReverseSpeed = analogRead(ReverseSpeedPin);

  ForwardSpeed = map(ForwardSpeed,0,1023,60,1);

  ReverseSpeed = map(ReverseSpeed,0,1023,-60,-1);

  }

 

void loop()

  {

    ForwardState = digitalRead(ForwardButton);

    ReverseState = digitalRead(ReverseButton);

    StopState = digitalRead(StopButton);

  

    //SET THREE DIFFERENT STATES (FORWARD, REVERSE, STOP)

      if (ForwardState == LOW) 

         {      //up state  

          CurrentState = 1; 

         }

   

      if (ReverseState == LOW) 

         {    // down state

          CurrentState = 2;

         }

   

      if (StopState == LOW)

        {

         CurrentState = 0;

         ST.motor(1, 0);

        }

        //FINISHED WITH "SET THREE DIFFERENT STATES (FORWARD, REVERSE, STOP)"

  

  

      if (CurrentState == 0)

         {

         ST.motor(1, 0);

         delay(2000);

         }

 

      if (CurrentState == 1)

         {  //Forward

         delay(2000);

         ST.motor(1,ForwardSpeed);

         ForwardSpeed = analogRead(ForwardSpeedPin);

         ForwardSpeed = map(ForwardSpeed,0,1023,60,1); 

         }

 

      if (CurrentState == 2)

         {  //Reverse

         delay(2000);

         ST.motor(1, ReverseSpeed);

         ReverseSpeed = analogRead(ReverseSpeedPin);

         ReverseSpeed = map(ReverseSpeed,0,1023,-60,-1);

         } 

 

 

  }