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...	...	@@ -77,10 +77,6 @@
77	77
78	78	In the case where the LSS Adapter is stacked on top of a shield-compatible Arduino microcontroller board, the Arduino can be powered from the Vin pin which is directly connected to the external supply voltage of the LSS Adapter. If the Arduino Board is powered separately via a different external power supply (ex. connected to the Arduino's barrel connector), it will NOT provide power to the LSS Adapter. The LSS adapter is designed to power the Arduino, but not vice-versa. As such, it is suggested that only ONE 6-12V power source be connected to the LSS Adapter which is used to power everything.
79	79
80		-**Raspberry Pi**
81		-
82		-The LSS Adapter's onboard 5V regulator does not provide enough current to power a Raspberry Pi and as such it is recommended that a Raspberry Pi be powered separately using an appropriate 5V, 2A+ USB wall adapter or 5V voltage adapter.
83		-
84	84	**Other MCUs**
85	85
86	86	The 5V or 3.3V outputs can be used to power other MCUs/Controllers. The 5V supply can provide up to 1A and the 3.3V can provide up to 500mA.
...	...	@@ -93,77 +93,102 @@
93	93	The four pins of all six connectors on the board are connected to one another. Each connector (on both the board and on each servo) can handle a maximum of 3A. The LSS Adapter is intended to provide sufficient current to all six connectors. In higher current applications, be sure to select a power supply / source which can provide the necessary current for all servos.
94	94	)))
95	95
96		-= Configurations =
	92	+= Communication Modes =
97	97
98		-Using the LSS Adapter Board is fairly simple and user-friendly. The configuration switch on the board allows the user to select one of the following five control methods.
	94	+Using the LSS Adapter Board is fairly simple and user-friendly. The configuration switch on the board allows the user to select one of the following five communication methods. A communication mode is chosen by sliding the switch to the desired position on the board. For example, for USB communication, slide the switch towards the XT60 connector until it is in place next to "USB". The two XBEE to USB jumpers do NOT need to be in place in any communication mode except "USB Explorer".
99	99
100		-A configuration is chosen by sliding the switch to the desired communication method on the board. For example, for USB communication, slide the switch towards the XT60 connector until it is in place next to "USB".
101		-
102	102	|(% colspan="2" style="width:300px" %)(((
103	103	== Arduino ==
104	104	)))
105	105	|(% style="width:300px" %){{lightbox image="LSS-ADAPTER-Arduino.png"/}}|(((
	100	+**Serial**
	101	+
106	106	To use the LSS Adapter Board with an Arduino Board, the switch should be in place next to "Arduino", between the "XBee" and "USB" positions. This configuration allows communication with the LSS actuators from an Arduino Board and can be used to build autonomous or semi-autonomous robots. When "Arduino" is selected on the communication switch:
107	107
108	108	* Arduino's Rx (digital 0) <-> LSS actuator's Tx pin
109	109	* Arduino Tx (digital 1) <-> LSS actuator's Rx pin
110	110
111		-This way, the Arduino communicates with the LSS actuator through the LSS Adapter Board. Note that the Arduino's GND pins are all connected to the LSS Adapter's GND.
	107	+This way, the Arduino communicates with the LSS actuator through the LSS Adapter Board. Note that the Arduino's GND pins are all connected to the LSS Adapter's GND. The XBEE-USB jumpers do NOT need to be in place.
	108	+
	109	+**Software Serial**
	110	+
	111	+Digital pins 8 and 9 are also connected on the board in order to use [[software serial>>https://www.arduino.cc/en/Reference/SoftwareSerial]]. This allows the Arduino to communicate with both the LSS servos which are connected to the LSS adapter, as well as an external module connected to the Bee socket. Should no Bee module be connected, the software serial pins can still be used when the switch is placed in XBee mode.
	112	+
	113	+* XBee Tx <-> D9 <-> LSS Rx
	114	+* XBEE Rx <-> D8 <-> LSS Tx
112	112	)))
113	113	|(% style="width:300px" %){{lightbox image="LSS-ADAPTER-ARDUINO-Exploded.png"/}}|(((
114		-The LSS Adapter is shield compatible. Therefore it can be stacked on top of an Arduino Board using the included Arduino stacking headers or male-to-male stacking pins.
	117	+**Stacking**
115	115
116		-The stacking headers used are :
	119	+The LSS Adapter is Arduino shield compatible, and additional shields can be stacked on top of the adapter. The pin connections are as follows:
117	117
118		-3 x 6 positions 0.1" (2.54mm) pitch 16mm (or higher) contact length header receptacle connectors.
	121	+* D0 <->  LSS Tx (switch in Arduino or XBee modes)
	122	+* D1 <-> LSS Rx (switch in Arduino or XBee modes)
	123	+* D8 <-> LSS Tx  (switch in XBee mode)
	124	+* D9 <-> LSS Rx  (switch in XBee mode)
	125	+* V <-> VCC
	126	+* G / GND <-> GND
	127	+* D2, D3, D4, D5, D6, D7, D10, D11, D12, D13, AREF, SDA, SCL: Pass through only
	128	+* A0, A1, A2, A3, A4, A5, 5V, 3.3V, RST, IOREF: Pass-through only
119	119
120		-1 x 8 positions 0.1" (2.54mm) pitch 16mm (or higher) contact length header receptacle connectors.
	130	+The male to female (M/F) stacking headers suggested are 0.1" (2.54mm) pitch, 16mm male (or higher) contact length + female header (1x 6 pin, 2x 8 pin, 1x 10 pin). If no additional shields are stacked on top of the adapter, M/M headers can be used.
121	121	)))
122	122	|(% colspan="2" style="width:300px" %)(((
123		-== Raspberry Pi ==
	133	+== USB ==
124	124	)))
125	125	|(% style="width:300px" %){{lightbox image="LSS-ADAPTER-USB.png"/}}|(((
126		-To use the LSS Adapter Board with an XBee Module, the switch should be on **position 2**.
	136	+(1) Switch to USB
127	127
128		-This configuration allows controlling LSS actuators wirelessly with an XBee/Bluetooth Bee/Wifi Bee module.
	138	+(2) Mini USB connected to a USB host device
129	129
130		-When XBee (position 2) is selected on the communication switch, the XBee Rx is connected to the LSS actuator's Tx and the XBee Tx is connected to the LSS actuator's Rx. This way, the Bee module communicates directly with the LSS actuator through the adapter.
	140	+To use the LSS Adapter Board with a standard computer, laptop or Raspberry Pi through USB, the switch should be set to "USB" mode. This configuration allows communication with the LSS actuators by sending serial commands from a USB host device via the FTDI chip. When USB is selected on the communication switch, the FTDI Rx is connected to the LSS actuator's Tx and FTDI Tx is connected to the LSS actuator's Rx. The XBEE-USB jumpers do NOT need to be in place.
131	131
132		-Plus, when the configuration switch is on **position 2**, the LSS Tx is connected to the Arduino pin 8 and the LSS Rx is connected to the Arduino pin 9 allowing to use [[Software Serial>>https://www.arduino.cc/en/Reference/SoftwareSerial]]
	142	+As such, the LSS Adapter is indirectly compatible with a Raspberry Pi using the USB connector. The switch needs to be set to USB mode, and the Mini USB connected to one of the Raspberry Pi's USB ports.
	143	+
	144	+**Raspberry Pi & Power**
	145	+
	146	+The LSS Adapter's onboard 5V regulator does not provide enough current to power a Raspberry Pi and as such it is recommended that a Raspberry Pi be powered separately using an appropriate 5V, 2A+ USB wall adapter or 5V voltage adapter (for example a 5V portable phone charger). Note that most 5V wall adapters and portable phone chargers cannot provide sufficient current to power both a Raspberry Pi and several servos.
133	133	)))
134		-|(% style="width:300px" %){{lightbox image="LSS-ADAPTER-PI-Exploded.png"/}}|
	148	+|(% style="width:300px" %){{lightbox image="LSS-ADAPTER-PI-Exploded.png"/}}|(((
	149	+**Mounting**
	150	+
	151	+The four mounting holes on the LSS adapter line up with the mounting holes of a Raspberry Pi 2 or 3, though it is important to note that the hole diameter of the mounting holes on a Raspberry Pi are 2.5mm, whereas the mounting hole diameter on the LSS Adapter is 3mm. As such, the standard M3 standoffs and screws which are part of the Lynxmotion SES V2 system cannot be used. Standoffs must be sufficiently high in order to clear all pins of the Raspberry Pi.
	152	+)))
135	135	|(% colspan="2" style="width:300px" %)(((
136		-== XBee & Compatibles ==
	154	+== XBee ==
137	137	)))
138	138	|(% style="width:300px" %){{lightbox image="LSS-ADAPTER-XBee.png"/}}|(((
139		-
	157	+(1) Bee socket compatible wireless module
	158	+
	159	+(2) Switch set to XBee mode
	160	+
	161	+**Bee Wireless Module**
	162	+
	163	+Although the LSS Adapter has no onboard programmable microcontroller, semi-autonomous / wirelessly controlled robots can be created where an external device like a computer, laptop, tablet or microcontroller sends and receives appropriate commands. The external device needs to be equipped with an appropriate wireless device which is capable of sending signals wirelessly to the adapter via a Bee compatible wireless module. When connecting the module, ensure the orientation matches that on the screen. The XBEE-USB jumpers do NOT need to be in place.
	164	+
	165	+**Bee Wireless Module + Arduino**
	166	+
	167	+Digital pins 8 and 9 of a shield-compatible Arduino are also connected on the board in order to use software serial. This allows an Arduino to communicate with both the LSS servos (which are connected to the LSS adapter) as well as an external module connected to the Bee socket. Should no Bee module be connected, the software serial pins can still be used when the switch is placed in XBee mode.
	168	+
	169	+* XBee Tx <-> D9 <-> LSS Rx
	170	+* XBEE Rx <-> D8 <-> LSS Tx
140	140	)))
141		-|(% colspan="2" style="width:300px" %)(((
142		-== XBee Explorer ==
143		-)))
144	144	|(% style="width:300px" %){{lightbox image="LSS-ADAPTER-XBee-Explorer.png"/}}|(((
145		-The XBee Rx pin and Tx pins are connected to the Arduino's pin 8 and 9 respectively. Therefore, the LSS Adapter Board can be also used as a USB XBee explorer board to configure the XBee module through USB. To use the LSS Adapter Board as a USB XBee explorer :
	173	+(1) Bee socket compatible wireless module
146	146
147		-* Stack the XBee module on the XBee socket on top of the LSS Adapter.
148		-* Select the USB configuration by turning the switch in **position 3**
149		-* Connect the Arduino pin 8 (XBee Rx) to the LSS Servo Rx pin
150		-* Connect the Arduino pin 9 (XBee Tx) to the LSS Servo Tx pin
151		-)))
152		-|(% colspan="2" style="width:300px" %)(((
153		-== USB Devices ==
154		-)))
155		-|(% style="width:350px" %){{lightbox image="LSS-ADAPTER-USB.png"/}}|(((
156		-To use the LSS Adapter Board with a Raspberry Pi or a standard computer / laptop through USB, the switch should be on **position 3**.
	175	+(2) Switch set to USB mode
157	157
158		-This configuration allows controlling LSS actuators by sending serial commands from a computer or a Raspberry Pi via USB.
159		-When USB (position 3) is selected on the communication switch, the FTDI Rx is connected to the LSS actuator's Tx and FTDI Tx is connected to the LSS actuator's Rx.
	177	+(3) Both XBee to USB jumpers in place
160	160
161		-The mounting holes for the LSS Adapter are compatible with the Raspberry Pi 2 / 3.
	179	+**XBee Explorer**
162	162
163		-
164		-
	181	+The XBee Rx pin and Tx pins are connected to the Arduino's digital pins 8 and 9 respectively. Therefore, the LSS Adapter Board can be also used as a USB XBee explorer board to communicate with and/or configure an XBee module via the FTDI chip. Note that this is the only mode where the XBEE to USB jumpers should be in place. All LSS servos are on the same bus and will receive the same communications taking place between the USB host and XBee module, therefore it is suggested to unplug all other devices (including servos) in this mode.
165	165	)))
166	166
167	167	= Dimensions =
168	168
169		-|(% style="width:350px" %){{lightbox image="LSS-ADAPTER-Dimensions.png"/}}|
	186	+|(% style="width:350px" %){{lightbox image="LSS-ADAPTER-Dimensions.png"/}}|(((
	187	+The PCB measures 64mm x 64mm square (not including connectors, USB and XT60 which protrude from three sides), and the four 3mm diameter mounting holes are located at 49mm x 58mm. Note that although these holes line up with the mounting holes of a Raspberry Pi 2 or 3, the Raspberry Pi's mounting holes are 2.5mm in diameter.
	188	+
	189	+The low profile female headers extend 7.4mm below the board, and the tallest component on top of the board protrudes 5.22mm.
	190	+)))