Last modified by Eric Nantel on 2024/09/06 14:52
From version < 19.1 >
edited by Coleman Benson
on 2023/06/27 13:12
To version < 1.2 >
edited by Eric Nantel
on 2023/06/21 11:04
< >
Change comment: There is no comment for this version

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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
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1 -{{warningBox warningText="More information coming soon"/}}
2 -
3 -
4 -
5 -
6 6  (% class="wikigeneratedid" id="HTableofContents" %)
7 7  **Page Contents**
8 8  
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14 14  
15 15  In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>doc:||anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.
16 16  
17 -= Action Commands =
12 +== Session ==
18 18  
19 -Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
14 +{{html clean="false" wiki="true"}}
15 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
16 +A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.<div class="wikimodel-emptyline"></div>
20 20  
18 +**Note 1:** For a given session, the action related to a specific command overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>
19 +**Note 2:** During the power-on / reset process the LSS cannot accept commands for a small amount of time (~1.25 s).<div class="wikimodel-emptyline"></div>
20 +**Note 3:** You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r described below). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended to compensate for drivers, OS and buffering delays.
21 +<div class="wikimodel-emptyline"></div></div></div>
22 +{{/html}}
23 +
24 +== Action Commands ==
25 +
26 +{{html clean="false" wiki="true"}}
27 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
28 +Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:<div class="wikimodel-emptyline"></div>
29 +
21 21  1. Start with a number sign **#** (Unicode Character: U+0023)
22 22  1. Servo ID number as an integer (assigning an ID described below)
23 23  1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
24 24  1. Action value in the correct units with no decimal
25 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
34 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
26 26  
27 27  (((
28 -Ex: #5D18000<cr>
37 +Ex: #5D1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
29 29  
30 30  This sends a serial command to all servo's RX pins which are connected to the bus and only servo(s) with ID #5 will move to a position (1800 in tenths of degrees) of 180.0 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
40 +<div class="wikimodel-emptyline"></div></div></div>
41 +{{/html}}
31 31  
32 32  == Modifiers ==
33 33  
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47 47  
48 48  This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 180.0 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
49 49  <div class="wikimodel-emptyline"></div></div></div>
61 +{{/html}}
50 50  
63 +== Query Commands ==
64 +
65 +{{html clean="false" wiki="true"}}
51 51  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
52 52  Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
53 53  
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72 72  
73 73  This indicates that servo #5 is currently at 180.0 degrees (1800 tenths of degrees).
74 74  <div class="wikimodel-emptyline"></div></div></div>
90 +{{/html}}
75 75  
92 +== Configuration Commands ==
93 +
94 +{{html clean="false" wiki="true"}}
76 76  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
77 77  Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
78 78  
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102 102  
103 103  #5QSR1&lt;cr&gt; would return *5QSR20&lt;cr&gt; which represents the value in EEPROM
104 104  <div class="wikimodel-emptyline"></div></div></div>
124 +{{/html}}
105 105  
126 +== Virtual Angular Position ==
127 +
128 +{{html wiki="true" clean="false"}}
106 106  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
107 107  The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>
108 108  
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124 124  
125 125  If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.0°, 180.0°].
126 126  <div class="wikimodel-emptyline"></div></div></div>
127 -
128 128  {{/html}}
129 -)))
130 130  
131 131  = Command List =
132 132  
133 -**Latest firmware version currently : v0.0.780**
154 +**Latest firmware version currently : 368.29.14**
134 134  
135 135  |(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
136 136  |(% 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="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
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988 988  </div></div>
989 989  {{/html}}
990 990  
991 -== RGB LED ==
1012 +== RGB LED Patterns ==
992 992  
993 -The LED can be
1014 +The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]]
994 994  
995 -
1016 +[[image:LSS - LED Patterns.png]]
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