Last modified by Eric Nantel on 2025/06/06 07:47

From version < 10.1 >
edited by RB1
on 2018/03/29 09:15
To version < 15.1 >
edited by Coleman Benson
on 2018/04/13 11:04
< >
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.CBenson
Content
... ... @@ -100,8 +100,7 @@
100 100  | 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
101 101  | 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
102 102  | 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
103 -Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
104 -Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds.
103 +See details below.
105 105  )))
106 106  | 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
107 107  | 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
... ... @@ -108,8 +108,8 @@
108 108  | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
109 109  | 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
110 110  | 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
111 -| 14|**A**ngular **A**cceleration| AA| QAA| CAA| ✓| ✓| tenths of degrees per second squared|
112 -| 15|**A**ngular **D**eceleration| AD| QAD| CAD| | | tenths of degrees per second squared|
110 +| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
111 +| 15|//N/A (removed)//| | | | | | |
113 113  | 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
114 114  | 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
115 115  | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
... ... @@ -211,13 +211,14 @@
211 211  
212 212  Example: #5P2334<cr>
213 213  
214 -The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees
213 +The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
215 215  
216 216  Query Position in Pulse (**QP**)
217 217  
218 218  Example: #5QP<cr> might return *5QP
219 219  
220 -This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
219 +This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle. 
220 +Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds.
221 221  
222 222  __9. Position in Degrees (**D**)__
223 223  
... ... @@ -291,46 +291,38 @@
291 291  
292 292  Using the CSD 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 CSD 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) is what the servo uses for that session.
293 293  
294 -__14. Angular Acceleration (**AA**)__
294 +__14. Rigidity (R)__
295 295  
296 -{More information coming soon}
296 +The servo's rigidity can be thought of as (though not identical to) a damped spring in which the rigidity value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
297 297  
298 -Ex:
298 +A positive value of "rigidity":
299 299  
300 -{Description coming soon}
300 +* The more torque will be applied to try to keep the desired position against external input / changes
301 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
301 301  
302 -Query Angular Acceleration (**QAA**)
303 +A negative value on the other hand:
303 303  
304 -Ex:
305 +* Causes a slower acceleration to the travel speed, and a slower deceleration
306 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back
305 305  
306 -{Description coming soon}
308 +The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
307 307  
308 -Configure Angular Acceleration (**CAA**)
310 +Ex: #5R-2<cr>
309 309  
310 -Ex:
312 +This reduces the rigidity to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
311 311  
312 -{Description coming soon}
314 +Ex: #5QR<cr>
313 313  
314 -__15. Angular Deceleration (**AD**)__
316 +Queries the value being used.
315 315  
316 -{More information coming soon}
318 +Ex: #5CR<cr>
317 317  
318 -Ex:
320 +Writes the desired rigidity value to memory.
319 319  
320 -{Description coming soon}
322 +__15. N/A (removed)__
321 321  
322 -Query Angular Acceleration (**QAD**)
324 +This command has been removed.
323 323  
324 -Ex:
325 -
326 -{Description coming soon}
327 -
328 -Configure Angular Acceleration (**CAD**)
329 -
330 -Ex:
331 -
332 -{Description coming soon}
333 -
334 334  __16. RGB LED (**LED**)__
335 335  
336 336  Ex: #5LED3<cr>
... ... @@ -485,23 +485,30 @@
485 485  
486 486  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
487 487  
488 -**__DEFAULT__**
480 +**__DEFAULT __**__& **CONFIRM**__
489 489  
490 490  Ex: #5DEFAULT<cr>
491 491  
492 -This command sets all values to the default values included with the version of the firmware installed on that servo.
484 +This command sets in motion the reset 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.
493 493  
494 -__**FIRMWARE** & **CONFIRM**__
486 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
495 495  
496 -Ex: #5FIRMWARE<cr>
488 +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 leave the firmware action.
497 497  
498 -This command clears all user-input values in EEPROM and reverts back to factory defaults for the firmware installed. It does not overwrite any firmware updates. To revert to an older firmware version, please refer to the LSS - Firmware page. The firmware command alone does nothing other than have the servo wait for a confirmation.
490 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
499 499  
500 -EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
492 +**__UPDATE __**__& **CONFIRM**__
501 501  
502 -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 leave the firmware action.
494 +Ex: #5UPDATE<cr>
503 503  
496 +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.
504 504  
498 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
499 +
500 +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.
501 +
502 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
503 +
505 505  === Virtual Angular Position ===
506 506  
507 507  {In progress}
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