Last modified by Eric Nantel on 2024/09/06 14:52
From version < 49.1 >
edited by Coleman Benson
on 2023/07/27 11:22
To version < 51.1 >
edited by Coleman Benson
on 2023/07/27 11:54
< >
Change comment: There is no comment for this version

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... ... @@ -557,23 +557,25 @@
557 557  
558 558  == Telemetry ==
559 559  
560 -====== __Query Voltage (**QV**)__ ======
560 +====== __Query PCB Temperature (**QT**)__ ======
561 561  
562 -Ex: #5QV<cr> might return *5QV11200<cr>
562 +Ex: #5QT<cr> might return *5QT564<cr>
563 563  
564 -The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
564 +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.
565 565  
566 -====== __Query Temperature (**QT**)__ ======
566 +====== Query Temperature Probe (**QTP**) ======
567 567  
568 -Ex: #5QT<cr> might return *5QT564<cr>
568 +Ex:
569 569  
570 -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.
570 +====== Query Temp of Controller (**QTCW**, **QTCE**) ======
571 571  
572 -====== __Query Motor Driver Current (**QC**)__ ======
572 +Ex:
573 573  
574 +====== __Query Current (**QC**)__ ======
575 +
574 574  Ex: #5QC<cr> might return *5QC140<cr>
575 575  
576 -The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
578 +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.
577 577  
578 578  ====== __Query Model String (**QMS**)__ ======
579 579  
... ... @@ -595,9 +595,9 @@
595 595  
596 596  ====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
597 597  
598 -Ex: #6QIX<cr> might return *6QIX3<cr>
600 +Ex: #6QIX<cr> might return *6QIX30<cr>
599 599  
600 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 0.3cm per second squared.
602 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
601 601  
602 602  __Query IMU Angular (**QIA**, **QIB**, **QIC**)__
603 603  
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