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Page properties

Author

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

Hidden

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1		-true
	1	+false

Content

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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
...	...	@@ -235,9 +235,11 @@
235	235	)))
236	236
237	237	|(% colspan="2" %)(((
238		-====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
	236	+====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
239	239	)))
240	240	|(% style="width:30px" %) |(((
	239	+This assigns ID #5 to the servo previously assigned to ID 0
	240	+
241	241	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
242	242
243	243	(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
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252	252	)))
253	253
254	254	|(% colspan="2" %)(((
255		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
	255	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
256	256	)))
257	257	|(% style="width:30px" %) |(((
258	258	Query Enable CAN Terminal Resistor (**QET**)
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269	269	)))
270	270
271	271	|(% colspan="2" %)(((
272		-====== __USB Connection Status (**UC**)__ ======
	272	+====== __USB Connection Status__ ======
273	273	)))
274	274	|(% style="width:30px" %) |(((
275	275	Query USB Connection Status (**QUC**)
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278	278	)))
279	279
280	280	|(% colspan="2" %)(((
281		-====== __Firmware Release (**FR**)__ ======
	281	+====== __Firmware Release__ ======
282	282	)))
283	283	|(% style="width:30px" %) |(((
284	284	Query Firmware Release (**QFR**)
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290	290
291	291	== Motion ==
292	292
293		-====== __Position in Degrees (**D**)__ ======
	293	+|(% colspan="2" %)(((
	294	+====== __Position in Degrees__ ======
	295	+)))
	296	+|(% style="width:30px" %) |(((
	297	+Position in Degrees (**D**)
294	294
295	295	Example: #5D1456<cr>
296	296
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309	309	Ex: #5QDT<cr> might return *5QDT6783<cr>
310	310
311	311	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	+)))
312	312
313		-====== __(Relative) Move in Degrees (**MD**)__ ======
	318	+|(% colspan="2" %)(((
	319	+====== __(Relative) Move in Degrees__ ======
	320	+)))
	321	+|(% style="width:30px" %) |(((
	322	+Move in Degrees (**MD**)
314	314
315		-
316	316	Example: #5MD123<cr>
317	317
318	318	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	+)))
319	319
320		-====== __Wheel Mode in Degrees (**WD**)__ ======
	329	+|(% colspan="2" %)(((
	330	+====== __Wheel Mode in Degrees__ ======
	331	+)))
	332	+|(% style="width:30px" %) |(((
	333	+Wheel mode in Degrees (**WD**)
321	321
322	322	Ex: #5WD90<cr>
323	323
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328	328	Ex: #5QWD<cr> might return *5QWD90<cr>
329	329
330	330	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	+)))
331	331
332		-====== __Wheel Mode in RPM (**WR**)__ ======
	346	+|(% colspan="2" %)(((
	347	+====== __Wheel Mode in RPM__ ======
	348	+)))
	349	+|(% style="width:30px" %) |(((
	350	+Wheel moed in RPM (**WR**)
333	333
334	334	Ex: #5WR40<cr>
335	335
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340	340	Ex: #5QWR<cr> might return *5QWR40<cr>
341	341
342	342	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	+)))
343	343
344		-====== __(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**)
345	345
346	346	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
347	347	Example: #5M1500<cr>
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348	348
349	349	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
350	350	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	+)))
351	351
352		-====== __Query Status (**Q**)__ ======
	377	+|(% colspan="2" %)(((
	378	+====== __Query Status__ ======
	379	+)))
	380	+|(% style="width:30px" %) |(((
	381	+Query Status (**Q**)
353	353
354	354	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
355	355
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379	379	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
380	380	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
381	381	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	411	+)))
382	382
383		-====== __Limp (**L**)__ ======
	413	+|(% colspan="2" %)(((
	414	+====== __Limp__ ======
	415	+)))
	416	+|(% style="width:30px" %) |(((
	417	+Limp (**L**)
384	384
385	385	Example: #5L<cr>
386	386
387	387	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	+)))
388	388
389		-====== __Halt & Hold (**H**)__ ======
	424	+|(% colspan="2" %)(((
	425	+====== __Halt & Hold__ ======
	426	+)))
	427	+|(% style="width:30px" %) |(((
	428	+Halt & Hold (**H**)
390	390
391	391	Example: #5H<cr>
392	392
393	393	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	+)))
394	394
395	395	== Motion Setup ==
396	396