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...	...	@@ -149,7 +149,7 @@
149	149	| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
150	150	| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151	151	| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
152		-| |[[Step Mode>>doc:||anchor="HStepMode"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, ½ step, ¼ step
	152	+| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, ½ step, ¼ step
153	153
154	154	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155	155	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -163,19 +163,19 @@
163	163	| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
164	164	| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165	165	| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
166		-| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
167		-| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
	166	+| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
	167	+| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
	168	+| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
168	168	QTCW: Queries the temperature status of the motor controller (pre-warning)
169	169
170	170	QTCE: Queries the temperature status of the motor controller (over-temp error)
171	171	)))
172		-| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
173		-| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
174		-| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
175		-| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
176		-| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
177		-| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
178		-| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
	173	+| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	174	+| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	175	+| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	176	+| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	177	+| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	178	+| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
179	179
180	180	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
181	181	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -185,13 +185,19 @@
185	185
186	186	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
187	187
188		-====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
	188	+|(% colspan="2" %)(((
	189	+====== __Reset__ ======
	190	+)))
	191	+| |(((
	192	+Ex: #5RESET<cr>
189	189
190		-(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
191		-This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	194	+This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	195	+)))
192	192
	197	+|(% colspan="2" %)(((
193	193	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
194		-
	199	+)))
	200	+| |(((
195	195	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
196	196
197	197	(% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
...	...	@@ -201,9 +201,12 @@
201	201	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
202	202
203	203	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	210	+)))
204	204
	212	+|(% colspan="2" %)(((
205	205	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
206		-
	214	+)))
	215	+| |(((
207	207	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
208	208
209	209	(% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
...	...	@@ -213,7 +213,11 @@
213	213	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
214	214
215	215	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	225	+)))
216	216
	227	+(% class="wikigeneratedid" %)
	228	+====== ======
	229	+
217	217	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
218	218
219	219	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
...	...	@@ -467,8 +467,10 @@
467	467
468	468	This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
469	469
470		-Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
	483	+Query Gyre Direction (**QG**)
471	471
	485	+Ex: #5QG<cr> might return *5QG-1<cr>
	486	+
472	472	The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
473	473
474	474	Configure Gyre (**CG**)
...	...	@@ -505,6 +505,24 @@
505	505
506	506	Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
507	507
	523	+====== __Step Mode (**SM**)__ ======
	524	+
	525	+Ex: #8SM2<cr>
	526	+
	527	+This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
	528	+
	529	+Note that the torque and max RPM of the actuator will be affected.
	530	+
	531	+Query Step Mode (**QSM**)
	532	+
	533	+Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	534	+
	535	+Configure Step Mode (**CSM**)
	536	+
	537	+Ex: #8SM2<cr>
	538	+
	539	+This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
	540	+
508	508	== Modifiers ==
509	509
510	510	====== __Speed (**SD**) modifier__ ======
...	...	@@ -536,23 +536,27 @@
536	536
537	537	== Telemetry ==
538	538
539		-====== __Query Voltage (**QV**)__ ======
	572	+====== __Query PCB Temperature (**QT**)__ ======
540	540
541		-Ex: #5QV<cr> might return *5QV11200<cr>
	574	+Ex: #5QT<cr> might return *5QT564<cr>
542	542
543		-The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
	576	+The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
544	544
545		-====== __Query Temperature (**QT**)__ ======
	578	+====== __Query Temperature Probe (**QTP**)__ ======
546	546
547		-Ex: #5QT<cr> might return *5QT564<cr>
	580	+Ex:
548	548
549		-The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
	582	+====== __Query Temp of Controller (**QTCW**)__ ======
550	550
551		-====== __Query Motor Driver Current (**QC**)__ ======
	584	+Ex:
552	552
	586	+An alternative is QTCE
	587	+
	588	+====== __Query Current (**QC**)__ ======
	589	+
553	553	Ex: #5QC<cr> might return *5QC140<cr>
554	554
555		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
	592	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
556	556
557	557	====== __Query Model String (**QMS**)__ ======
558	558
...	...	@@ -571,3 +571,17 @@
571	571	Ex: #5QN<cr> might return *5QN12345678<cr>
572	572
573	573	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	611	+
	612	+====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
	613	+
	614	+Ex: #6QIX<cr> might return *6QIX30<cr>
	615	+
	616	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	617	+
	618	+====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
	619	+
	620	+Ex: #6QIB<cr> might return *6QIB44<cr>
	621	+
	622	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	623	+
	624	+