Last modified by Eric Nantel on 2024/09/06 14:52
From version < 47.1 >
edited by Coleman Benson
on 2023/07/27 09:31
To version < 46.1 >
edited by Coleman Benson
on 2023/07/27 09:26
< >
Change comment: There is no comment for this version

Summary

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... ... @@ -467,10 +467,8 @@
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**)
470 +Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
471 471  
472 -Ex: #5QG<cr> might return *5QG-1<cr>
473 -
474 474  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.
475 475  
476 476  Configure Gyre (**CG**)
... ... @@ -507,24 +507,6 @@
507 507  
508 508  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.
509 509  
510 -====== __Step Mode (**SM**)__ ======
511 -
512 -Ex: #8SM2<cr>
513 -
514 -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.
515 -
516 -Note that the torque and max RPM of the actuator will be affected.
517 -
518 -Query Step Mode (**QSM**)
519 -
520 -Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
521 -
522 -Configure Step Mode (**CSM**)
523 -
524 -Ex: #8SM2<cr>
525 -
526 -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.
527 -
528 528  == Modifiers ==
529 529  
530 530  ====== __Speed (**SD**) modifier__ ======
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