RSDK-779: Add Support For Dimension Engineering Sabertooth Motor Cont…

…roller (#1498)

components/motor/dimensionengineering/common.go

@@ -0,0 +1,44 @@
+package dimensionengineering
+
+type (
+	commandCode byte
+	opCode      byte
+)
+
+const (
+	minSpeed = 0x0
+	maxSpeed = 0x7f
+
+	// Commands.
+	singleForward   commandCode = 0
+	singleBackwards commandCode = 1
+	singleDrive     commandCode = 2
+	multiForward    commandCode = 3
+	multiBackward   commandCode = 4
+	multiDrive      commandCode = 5
+	multiTurnLeft   commandCode = 6
+	multiTurnRight  commandCode = 7
+	multiTurn       commandCode = 8
+	setRamping      commandCode = 20
+	setDeadband     commandCode = 21
+
+	// Serial level op-codes.
+	opMotor1Forward       opCode = 0x00
+	opMotor1Backwards     opCode = 0x01
+	opMinVoltage          opCode = 0x02
+	opMaxVoltage          opCode = 0x03
+	opMotor2Forward       opCode = 0x04
+	opMotor2Backwards     opCode = 0x05
+	opMotor1Drive         opCode = 0x06
+	opMotor2Drive         opCode = 0x07
+	opMultiDriveForward   opCode = 0x08
+	opMultiDriveBackwards opCode = 0x09
+	opMultiDriveRight     opCode = 0x0a
+	opMultiDriveLeft      opCode = 0x0b
+	opMultiDrive          opCode = 0x0c
+	opMultiTurn           opCode = 0x0d
+	opSerialTimeout       opCode = 0x0e
+	opSerialBaudRate      opCode = 0x0f
+	opRamping             opCode = 0x10
+	opDeadband            opCode = 0x11
+)