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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.ENantel

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1	1	{{warningBox warningText="More information coming soon"/}}
2	2
3		-
4		-
5	5	(% class="wikigeneratedid" id="HTableofContents" %)
6	6	**Page Contents**
7	7
...	...	@@ -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__(%%) ======
	186	+|(% colspan="2" %)(((
	187	+====== __Reset__ ======
	188	+)))
	189	+| |(((
	190	+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.
	192	+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.
	193	+)))
192	192
	195	+|(% colspan="2" %)(((
193	193	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
194		-
	197	+)))
	198	+|(% style="width:30px" %) |(((
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.
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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.
	208	+)))
204	204
	210	+|(% colspan="2" %)(((
205	205	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
206		-
	212	+)))
	213	+|(% style="width:30px" %) |(((
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.
...	...	@@ -213,15 +213,23 @@
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.
	223	+)))
216	216
	225	+|(% colspan="2" %)(((
217	217	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
218		-
	227	+)))
	228	+|(% style="width:30px" %) |(((
219	219	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
220	220
221	221	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
222	222	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	233	+)))
223	223
224		-====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
	235	+|(% colspan="2" %)(((
	236	+====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
	237	+)))
	238	+|(% style="width:30px" %) |(((
	239	+This assigns ID #5 to the servo previously assigned to ID 0
225	225
226	226	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
227	227
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234	234	Ex: #254QID<cr> might return *254QID5<cr>
235	235
236	236	In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
	252	+)))
237	237
238		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
239		-
	254	+|(% colspan="2" %)(((
	255	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
	256	+)))
	257	+|(% style="width:30px" %) |(((
240	240	Query Enable CAN Terminal Resistor (**QET**)
241	241
242	242	Ex: #5QET<cr> might return *QET0<cr>
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248	248	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
249	249
250	250	(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
	269	+)))
251	251
252		-====== __USB Connection Status (**UC**)__ ======
253		-
	271	+|(% colspan="2" %)(((
	272	+====== __USB Connection Status__ ======
	273	+)))
	274	+|(% style="width:30px" %) |(((
254	254	Query USB Connection Status (**QUC**)
255	255
256	256	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
	278	+)))
257	257
258		-====== __Firmware Release (**FR**)__ ======
259		-
	280	+|(% colspan="2" %)(((
	281	+====== __Firmware Release__ ======
	282	+)))
	283	+|(% style="width:30px" %) |(((
260	260	Query Firmware Release (**QFR**)
261	261
262	262	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
263	263
264	264	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
	289	+)))
265	265
266	266	== Motion ==
267	267
268		-====== __Position in Degrees (**D**)__ ======
	293	+|(% colspan="2" %)(((
	294	+====== __Position in Degrees__ ======
	295	+)))
	296	+|(% style="width:30px" %) |(((
	297	+Position in Degrees (**D**)
269	269
270	270	Example: #5D1456<cr>
271	271
...	...	@@ -284,15 +284,24 @@
284	284	Ex: #5QDT<cr> might return *5QDT6783<cr>
285	285
286	286	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.
	316	+)))
287	287
288		-====== __(Relative) Move in Degrees (**MD**)__ ======
	318	+|(% colspan="2" %)(((
	319	+====== __(Relative) Move in Degrees__ ======
	320	+)))
	321	+|(% style="width:30px" %) |(((
	322	+Move in Degrees (**MD**)
289	289
290		-
291	291	Example: #5MD123<cr>
292	292
293	293	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.
	327	+)))
294	294
295		-====== __Wheel Mode in Degrees (**WD**)__ ======
	329	+|(% colspan="2" %)(((
	330	+====== __Wheel Mode in Degrees__ ======
	331	+)))
	332	+|(% style="width:30px" %) |(((
	333	+Wheel mode in Degrees (**WD**)
296	296
297	297	Ex: #5WD90<cr>
298	298
...	...	@@ -303,8 +303,13 @@
303	303	Ex: #5QWD<cr> might return *5QWD90<cr>
304	304
305	305	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).
	344	+)))
306	306
307		-====== __Wheel Mode in RPM (**WR**)__ ======
	346	+|(% colspan="2" %)(((
	347	+====== __Wheel Mode in RPM__ ======
	348	+)))
	349	+|(% style="width:30px" %) |(((
	350	+Wheel moed in RPM (**WR**)
308	308
309	309	Ex: #5WR40<cr>
310	310
...	...	@@ -315,8 +315,14 @@
315	315	Ex: #5QWR<cr> might return *5QWR40<cr>
316	316
317	317	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).
	361	+)))
318	318
319		-====== __(Relative) Move in Degrees (**MD**)__ ======
	363	+|(% colspan="2" %)(((
	364	+====== __(Relative) Move in Degrees__ ======
	365	+)))
	366	+|(% style="width:30px" %) |(((
	367	+(% class="wikigeneratedid" %)
	368	+Move in Degrees (**MD**)
320	320
321	321	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
322	322	Example: #5M1500<cr>
...	...	@@ -323,8 +323,13 @@
323	323
324	324	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
325	325	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.
	375	+)))
326	326
327		-====== __Query Status (**Q**)__ ======
	377	+|(% colspan="2" %)(((
	378	+====== __Query Status__ ======
	379	+)))
	380	+|(% style="width:30px" %) |(((
	381	+Query Status (**Q**)
328	328
329	329	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
330	330
...	...	@@ -354,18 +354,29 @@
354	354	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
355	355	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
356	356	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	411	+)))
357	357
358		-====== __Limp (**L**)__ ======
	413	+|(% colspan="2" %)(((
	414	+====== __Limp__ ======
	415	+)))
	416	+|(% style="width:30px" %) |(((
	417	+Limp (**L**)
359	359
360	360	Example: #5L<cr>
361	361
362	362	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>.
	422	+)))
363	363
364		-====== __Halt & Hold (**H**)__ ======
	424	+|(% colspan="2" %)(((
	425	+====== __Halt & Hold__ ======
	426	+)))
	427	+|(% style="width:30px" %) |(((
	428	+Halt & Hold (**H**)
365	365
366	366	Example: #5H<cr>
367	367
368	368	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.)
	433	+)))
369	369
370	370	== Motion Setup ==
371	371