Hello
I have a few questions; first off what is the program code to run the Sabertooth 2X10 R/C from the BASIC Atom 28? I should know this but I can’t seem to get it to work. I’m using the pulsout command like this ( pulsout pin, time ) but I don’t know what to put in for the time.
Question two: can I use two 9 volt batteries in parallel to increase the run time on the electronics.
Question three: does anyone have program code for an Autonomous rover. Because I’m having writers block when it comes to writing my own program. I’m okay when it comes to programming PLCs and industrial robotic arms but with a rover theres just so much going all at once.
Below is a list of electronics, sensors and there configuration on the robot, and sample code for the sensors
Thanks for all the help!!!
Curtis
4WD1 (Old)
BASIC Atom 28 Pin
Mini-ABB
Sabertooth 2X10 R/C Regenerative Dual Channel Motor Controller
PS2 controller
5 - Ping))) Ultrasonic Range Sensor
3 - Sharp GP2D12 IR Sensor
Memsic 2125 Accelerometer
7.2 volt 2400mAh battery
The key is to start out simple and build on in stages. I started out with a $69.95 robot kit, added my electronics of choice (the older Mini-ABB + Basic Atom), and just dove into the programming. My first (and only for quite awhile) was the IRPD, and I think I got pretty darn good at using that for obstacle avoidance. It’s really amazing what you can do with a sensor like the IRPD. Now, the only original part on my robot (W.A.L.T.E.R., a two wheeled, differential drive rover) is the front caster, and that will be replaced soon.
There are many of us here who have code for the various combinations of sensors and processors Lynxmotion sells. I used the Basic Atom for over a year before I decided to upgrade to something else because I kept running out of program memory. I couldn’t add any more new code. I won’t run out of code space with the new processor though.
There is a LOT of code available for the Basic Atom. I have an entire version of software for W.A.L.T.E.R. using the Basic Atom. This and other code should work well for the older 4WD1.
I and others here have code for these. I’m not sure my code is the best for the IR sensors, but the PING code is excellent, and there is also a version converted to work on the Atom PRO.
8-Dale
for the Atom it’s 1uS resolution. So a centered servo, or a stopped Sabertooth would require a 1500uS pulsout value. The range is 1000 to 2000 for the Sabertooth from full speed CW to full speed CCW. Atom manual page 134 
We are currently developing the A4WD1 for the Atom Pro 28, Sabertooth 2 x 10 RC, PS2, and Autonomous control Tutorials. Just getting started but should have them complete in the next few weeks.
I have built my rover up in stages and now i have 3 - Ping))) Ultrasonic Range Sensor, 3 - Sharp GP2D12 IR Sensor, a Memsic 2125 Accelerometer and a LCD display.
I’m still working on the code for the Accelerometer but everything else is working great. the rover can roam Autonomously without getting stuck.
it dose have bit of a problem with angled chair legs but i have plan to fix that. what i need is some ideas for Behaviors for my rover. right now i have 5 Navigate, Avoid_objects, Scan, Speed and Danger.
Navigate starts the rover moving forward and gets it out of corners.
Avoid_objects keeps the rover from running into things.
Scan looks for a clear path.
Speed lets the robot go faster in open areas.
Danger keeps the rover from falling off an edge or tipping over.
I just need some ideas for more Behaviors to experiment with.
thanks 
