Changes for page LSS-PRO Communication Protocol

Last modified by Eric Nantel on 2024/09/06 14:52

From version < 28.1 >

edited by Coleman Benson
on 2023/07/25 15:05

To version < 27.1 >

edited by Coleman Benson
on 2023/07/25 14:50

< >

Change comment: There is no comment for this version

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@@ -212,75
          +212,126 @@
  ====== __Position in Degrees (**D**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5D1456&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Example: #5D1456<cr>
++This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction. <div class="wikimodel-emptyline"></div>
--This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
++Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>
--Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
++Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div>
--Query Position in Degrees (**QD**)
++Example: #5QD&lt;cr&gt; might return *5QD132&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Example: #5QD<cr> might return *5QD132<cr>
++This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>
--This means the servo is located at 13.2 degrees.
++(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
++Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div>
--Query Target Position in Degrees (**QDT**)
++Ex: #5QDT&lt;cr&gt; might return *5QDT6783&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5QDT<cr> might return *5QDT6783<cr>
--
  The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
  ====== __(Relative) Move in Degrees (**MD**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5MD123&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Example: #5MD123<cr>
--
  The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
  ====== __Wheel Mode in Degrees (**WD**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5WD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5WD90<cr>
++This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>
--This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
++Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div>
--Query Wheel Mode in Degrees (**QWD**)
++Ex: #5QWD&lt;cr&gt; might return *5QWD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5QWD<cr> might return *5QWD90<cr>
--
  The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
  ====== __Wheel Mode in RPM (**WR**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5WR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5WR40<cr>
++This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage.  The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>
--This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
++Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div>
--Query Wheel Mode in RPM (**QWR**)
++Ex: #5QWR&lt;cr&gt; might return *5QWR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5QWR<cr> might return *5QWR40<cr>
--
  The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--======  ======
++====== __Position in PWM (**P**)__ ======
--====== __(Relative) Move in Degrees (**MD**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5P2334&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--======
--Example: #5M1500<cr> ======
++The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--====== The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction. ======
++Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div>
--====== __Query Status (**Q**)__ ======
++Example: #5QP&lt;cr&gt; might return *5QP2334<div class="wikimodel-emptyline"></div>
++This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
++Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
++====== __(Relative) Move in PWM (**M**)__ ======
--Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5M1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
++
++====== __Raw Duty-cycle Move (**RDM**)__ ======
++
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5RDM512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.<div class="wikimodel-emptyline"></div>
++
++The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).<div class="wikimodel-emptyline"></div>
++
++Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>
++
++Example: #5QMD&lt;cr&gt; might return *5QMD512<div class="wikimodel-emptyline"></div>
++
++This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
++
++====== __Query Status (**Q**)__ ======
++
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div>
++
++Ex: #5Q&lt;cr&gt; might return *5Q6&lt;cr&gt;, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
++
  |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
  | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
@@ -298,9
          +298,12 @@
  Send a Q1 command to know which limit has been reached (described below).
  )))
--If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--
  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
  | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
@@ -309,17
          +309,23 @@
  ====== __Limp (**L**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5L&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Example: #5L<cr>
++This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L&lt;cr&gt;.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
--
  ====== __Halt & Hold (**H**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5H&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Example: #5H<cr>
--
  This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
  == Motion Setup ==

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