Serial, let’s keep it simple (Conestoga)

I initially controlled conestoga’s sabertooth motor driver through the arduino:

arduino to pc: here’s a velocity

pc: ok let me do the PID thing.

pc to arduino: here’s a throttle setting from the PID, don’t screw it up.

arduino to pc: ACK (maybe, depending on how I feel)

arduino to sabertooth: here’s the throttle setting from the pc, don’t screw it up.

sabertooth to arduino: (ok I will set the throttle but it’s beneath my dignity to reply)

I have since simplified this making it less problem prone by talking directly to the sabertooth from the pc (through a rs232 to ttl converter)

arduino to pc: here’s a velocity

pc: ok let me do the PID thing.

pc to sabertooth: here’s a throttle setting from the PID, don’t screw it up.

sabertooth to pc: (ok I will set the throttle but it’s still beneath my dignity to reply)

HL

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