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...	...	@@ -42,6 +42,28 @@
42	42	Modified commands are command specific.
43	43	)))
44	44
	45	+(((
	46	+
	47	+)))
	48	+
	49	+== Configuration Commands ==
	50	+
	51	+Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servos (LSS).LSS - RC PWM.WebHome]].
	52	+
	53	+1. Start with a number sign # (U+0023)
	54	+1. Servo ID number as an integer
	55	+1. Configuration command (two to three letters, no spaces, capital or lower case)
	56	+1. Configuration value in the correct units with no decimal
	57	+1. End with a control / carriage return '<cr>'
	58	+
	59	+Ex: #5CO-50<cr>
	60	+
	61	+Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
	62	+
	63	+Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
	64	+
	65	+*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
	66	+
45	45	== Query Commands ==
46	46
47	47	Query commands are sent serially to the servo's Rx pin and must be set in the following format:
...	...	@@ -69,25 +69,21 @@
69	69	)))
70	70
71	71	Indicates that servo #5 is currently at 144.3 degrees.
72		-)))
73	73
74		-== Configuration Commands ==
	95	+**Session vs Configuration Query**
75	75
76		-Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servos (LSS).LSS - RC PWM.WebHome]].
	97	+By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
77	77
78		-1. Start with a number sign # (U+0023)
79		-1. Servo ID number as an integer
80		-1. Configuration command (two to three letters, no spaces, capital or lower case)
81		-1. Configuration value in the correct units with no decimal
82		-1. End with a control / carriage return '<cr>'
	99	+In order to query the value in EEPROM, add a '1' to the query command.
83	83
84		-Ex: #5CO-50<cr>
	101	+Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
85	85
86		-Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
	103	+After RESET: #5SR4<cr> sets the session's speed to 4rpm.
87	87
88		-Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
	105	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
89	89
90		-*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
	107	+#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	108	+)))
91	91
92	92	= Command List =
93	93
...	...	@@ -107,8 +107,8 @@
107	107	| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
108	108	| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
109	109	| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
110		-| 14| | | | | | | |
111		-| 15| | | | | | | |
	128	+| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
	129	+| 15|//N/A (removed)//| | | | | | |
112	112	| 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
113	113	| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
114	114	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
...	...	@@ -291,6 +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
	312	+__14. Rigidity (R)__
	313	+
	314	+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.
	315	+
	316	+A positive value of "rigidity":
	317	+
	318	+* The more torque will be applied to try to keep the desired position against external input / changes
	319	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	320	+
	321	+A negative value on the other hand:
	322	+
	323	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	324	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	325	+
	326	+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.
	327	+
	328	+Ex: #5R-2<cr>
	329	+
	330	+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.
	331	+
	332	+Ex: #5QR<cr>
	333	+
	334	+Queries the value being used.
	335	+
	336	+Ex: #5CR<cr>
	337	+
	338	+Writes the desired rigidity value to memory.
	339	+
	340	+__15. N/A (removed)__
	341	+
	342	+This command has been removed.
	343	+
294	294	__16. RGB LED (**LED**)__
295	295
296	296	Ex: #5LED3<cr>