Changes for page LSS Communication Protocol

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

From version < 14.1 >

edited by Coleman Benson
on 2018/04/12 15:53

To version < 10.1 >

edited by RB1
on 2018/03/29 09:15

< >

Change comment: There is no comment for this version

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

Content

@@ -100,7
          +100,8 @@
  | 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|(((
--See details below.
++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.
  )))
  | 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)|
@@ -107,8
          +107,8 @@
  | 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| | | | | | | |
--| 15| | | | | | | |
++| 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|
  | 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)|
@@ -210,14
          +210,13 @@
  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. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
++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
  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.
--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.
++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.
  __9. Position in Degrees (**D**)__
@@ -291,6
          +291,46 @@
  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**)__
++
++{More information coming soon}
++
++Ex:
++
++{Description coming soon}
++
++Query Angular Acceleration (**QAA**)
++
++Ex:
++
++{Description coming soon}
++
++Configure Angular Acceleration (**CAA**)
++
++Ex:
++
++{Description coming soon}
++
++__15. Angular Deceleration (**AD**)__
++
++{More information coming soon}
++
++Ex:
++
++{Description coming soon}
++
++Query Angular Acceleration (**QAD**)
++
++Ex:
++
++{Description coming soon}
++
++Configure Angular Acceleration (**CAD**)
++
++Ex:
++
++{Description coming soon}
++
  __16. RGB LED (**LED**)__
  Ex: #5LED3<cr>
@@ -445,30
          +445,23 @@
  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
--**__DEFAULT __**__& **CONFIRM**__
++**__DEFAULT__**
  Ex: #5DEFAULT<cr>
--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.
++This command sets all values to the default values included with the version of the firmware installed on that servo.
--EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
++__**FIRMWARE** & **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: #5FIRMWARE<cr>
--Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
++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.
--**__UPDATE __**__& **CONFIRM**__
++EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
--Ex: #5UPDATE<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 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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