dimensionengineering module

This dimensionengineering module implements a dimensionengineering sabertooth motor using the rdk:component:motor API.

Note

Before configuring your motor, you must create a machine.

Navigate to the CONFIGURE tab of your machine in the Viam app. Add motor / dimensionengineering:sabertooth to your machine.

Configure your sabertooth motor

To configure a sabertooth motor, you must configure the serial_address, motor_channel, and set the serial_path of the motor. To find your serial device path, first connect the serial device to your machine, then :

• On Linux, run ls /dev/serial/by-path/ to show connected serial devices, or look for your device in the output of sudo dmesg | grep tty. Example: "/dev/serial/by-path/usb-0:1.1:1.0".
• On macOS, run ls /dev/tty* | grep -i usb to show connected USB serial devices, ls /dev/tty* to browse all devices, or look for your device in the output of sudo dmesg | grep tty. Example: "/dev/ttyS0".

{
  "serial_path": "<serial-path-to-your-motor>",
  "serial_address": <int>,
  "motor_channel": <int>
}

Attributes

The following attributes are available for viam:dimensionengineering:sabertooth motors:

Attribute	Type	Required?	Description
serial_path	string	Required	The full filesystem path to the serial device, starting with /dev.
address	int	Required	Serial address of the controller.
motor_channel	int	Required	Channel the motor is connected to on the controller.

Example configuration

  {
    "serial_path": "/dev/serial/by-path/your_device",
    "serial_address": 127,
    "motor_channel": 1
  }

Next Steps

• To test your motor, expand the TEST section of its configuration pane or go to the CONTROL tab.
• To write code against your motor, use one of the available SDKs.
• To view examples using a motor component, explore these tutorials.