Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -134,7 +134,7 @@ 134 134 | |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s| 135 135 | |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s| 136 136 | |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils 137 -| |[[**H**alt & Hold>> doc:||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position137 +| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position 138 138 139 139 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]] 140 140 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** ... ... @@ -149,7 +149,7 @@ 149 149 150 150 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]] 151 151 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 152 -| |[[**S**peed in **D**egrees>> doc:||anchor="HSpeed28SD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands152 +| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands 153 153 | |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands 154 154 155 155 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]] ... ... @@ -169,9 +169,9 @@ 169 169 | |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 170 170 | |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 171 171 | |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 172 -| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQI G29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)173 -| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQI G29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)174 -| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQI G29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)172 +| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 173 +| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 174 +| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 175 175 176 176 |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]] 177 177 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** ... ... @@ -423,9 +423,11 @@ 423 423 ))) 424 424 425 425 |(% colspan="2" %)((( 426 -====== __ **L**imp(**L**)__ ======426 +====== __Limp__ ====== 427 427 ))) 428 428 |(% style="width:30px" %) |((( 429 +Limp (**L**) 430 + 429 429 Example: #5L<cr> 430 430 431 431 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>. ... ... @@ -432,9 +432,11 @@ 432 432 ))) 433 433 434 434 |(% colspan="2" %)((( 435 -====== __ **H**alt & Hold(**H**)__ ======437 +====== __Halt & Hold__ ====== 436 436 ))) 437 437 |(% style="width:30px" %) |((( 440 +Halt & Hold (**H**) 441 + 438 438 Example: #5H<cr> 439 439 440 440 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.) ... ... @@ -698,17 +698,17 @@ 698 698 ))) 699 699 700 700 |(% colspan="2" %)((( 701 -====== __ **Q**uery**T**emp**C**ontroller**E**rror (**QTCE**)__ ======705 +====== __Query Temp Controller Error (**QTCE**)__ ====== 702 702 ))) 703 703 |(% style="width:30px" %) |((( 704 - ============708 + 705 705 ))) 706 706 707 707 |(% colspan="2" %)((( 708 -====== **Q**uery**T**emp**C**ontroller**W**arning712 +====== __Query Temp Controller Warning (**QTCW**)__ ====== 709 709 ))) 710 710 |(% style="width:30px" %) |((( 711 - ============715 + 712 712 ))) 713 713 714 714 |(% colspan="2" %)((( ... ... @@ -728,7 +728,7 @@ 728 728 ))) 729 729 730 730 |(% colspan="2" %)((( 731 -====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ====== 735 +====== __**Q**uery **I**MU **A**ngular (**QIA QIB QIG**)__ ====== 732 732 ))) 733 733 |(% style="width:30px" %) |((( 734 734 ====== Ex: #6QIB<cr> might return *6QIB44<cr> ====== ... ... @@ -735,4 +735,3 @@ 735 735 736 736 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared. 737 737 ))) 738 -