There are several other libraries that have been developed specifically for the arbotiX:

• Motors2 - for using the onboard motor drivers

Additionally, the arbotiX can use the libraries found in the robocontroller package.

• Commander - library for communicating with a handheld arbotiX Commander, or a PC.
• Encoders - for using the onboard encoder headers, this is actually two libraries: EncodersAB, for traditional quadrature encoders that output A&B signals, and EncodersCD for encoders that give out clock and direction signals.
• SharpIR - for reading distance using any of the family of Sharp IR ranging sensors.
• Srf05 - for reading distance using an Srf05 sonar sensors.
• Srf08 - for reading distance using an Srf02 or Srf08 sonar sensor.

And of course, the stock Arduino libraries such as Serial and Servo can be used. See some hints here.

Motors2

This library implements a dual motor driver using Timer2, it can be used to control the onboard motor driver on the arbotiX. It has several functions:

void left(int pwm) - set the left motor speed.
void right(int pwm) - set the right motor speed.
void set(int lpwm, int rpwm) - set the left and right motor speeds at the same time.

Motor speeds are between -255 and 255. -255 is full reverse, 0 is stopped, and 255 is full speed forward.

#include <Motors2.h>

Motors2 drive = Motors2();

void setup(){
    drive.set(-255,-255); // drive backwards at full speed 
    delay(1000);

    drive.set(0,0); // stop
    delay(1000);

    drive.set(100,100); // drive forward at half speed
    delay(1000);

    drive.left(0); // stop the left motor, turn in place
    delay(500);    
    drive.right(50); // cut right motor speed in half
    delay(500)
    drive.right(0); // and stop
}

void loop(){
    
}

Arduino Hints

The default Serial library that comes with Arduino environment will work with either the FTDI cable or the XBEE radio on the arbotiX (remember, don't connect both the FTDI and the XBEE at the same time). We suggest using 38400 as the baud rate, since all of our demos use that.

The default Servos library is shipped with the Sanguino installation. Please note that it is not the same servo library found in the newer Arduino 0017 release, it is still the 2-servo hardware timer version. This servo library can be used to control the two servo headers found on the arbotiX.