Changes for page LSS Communication Protocol

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

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@@ -1,1
          +1,1 @@
--xwiki:XWiki.RB1
++xwiki:XWiki.CBenson

Content

@@ -100,8
          +100,7 @@
  | 6|**O**rigin Offset| O| QO| CO| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 7|**A**ngular **R**ange| AR| QAR| CAR| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
--Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
--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.
++See details below.
  )))
  | 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 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 @@
  | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
  | 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
  | 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
--| 14|**A**ngular **A**cceleration| AA| QAA| CAA| ✓| ✓| tenths of degrees per second squared|
--| 15|**A**ngular **D**eceleration| AD| QAD| CAD| ✓| ✓| tenths of degrees per second squared|
++| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
++| 15|//N/A (removed)//| | | | | | |
  | 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
  | 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
  | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
@@ -211,13
          +211,14 @@
  Example: #5P2334<cr>
--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
++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.
  Query Position in Pulse (**QP**)
  Example: #5QP<cr> might return *5QP
--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.
++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.
++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.
  __9. Position in Degrees (**D**)__
@@ -291,46
          +291,38 @@
  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.
--__14. Angular Acceleration (**AA**)__
++__14. Rigidity (R)__
--{More information coming soon}
++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.
--Ex:
++A positive value of "rigidity":
--{Description coming soon}
++* The more torque will be applied to try to keep the desired position against external input / changes
++* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
--Query Angular Acceleration (**QAA**)
++A negative value on the other hand:
--Ex:
++* Causes a slower acceleration to the travel speed, and a slower deceleration
++* Allows the target position to deviate more from its position before additional torque is applied to bring it back
--{Description coming soon}
++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.
--Configure Angular Acceleration (**CAA**)
++Ex: #5R-2<cr>
--Ex:
++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.
--{Description coming soon}
++Ex: #5QR<cr>
--__15. Angular Deceleration (**AD**)__
++Queries the value being used.
--{More information coming soon}
++Ex: #5CR<cr>
--Ex:
++Writes the desired rigidity value to memory.
--{Description coming soon}
++__15. N/A (removed)__
--Query Angular Acceleration (**QAD**)
++This command has been removed.
--Ex:
--
--{Description coming soon}
--
--Configure Angular Acceleration (**CAD**)
--
--Ex:
--
--{Description coming soon}
--
  __16. RGB LED (**LED**)__
  Ex: #5LED3<cr>
@@ -485,23
          +485,30 @@
  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
--**__DEFAULT__**
++**__DEFAULT __**__& **CONFIRM**__
  Ex: #5DEFAULT<cr>
--This command sets all values to the default values included with the version of the firmware installed on that servo.
++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.
--__**FIRMWARE** & **CONFIRM**__
++EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
--Ex: #5FIRMWARE<cr>
++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.
--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.
++Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
--EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
++**__UPDATE __**__& **CONFIRM**__
--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.
++Ex: #5UPDATE<cr>
++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.
++EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
++
++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.
++
++Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
++
  === Virtual Angular Position ===
  {In progress}

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