Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2024/11/21 09:43
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... ... @@ -1,1 +1,1 @@ 1 -xwiki:XWiki.B Daouas1 +xwiki:XWiki.RB1 - Content
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... ... @@ -136,7 +136,7 @@ 136 136 | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| | L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 137 137 | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| | H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 138 138 | 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]|T| | | | | | ✓|milliseconds|(% style="width:510px" %)Modifier only for {P, D, MD}. Time is estimated and can change based on load|(% style="text-align:center; width:113px" %) 139 -| 4|[[**S**peed>>||anchor="H4.Speed28S2 CSD29modifier"]]|S/SD| |QS| | | | ✓|microseconds per second / degrees per second|(% style="width:510px" %)S modifier only for {P}. SD modifier only for {D, MD}.|(% style="text-align:center; width:113px" %)139 +| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]|S/SD| |QS| | | | ✓|microseconds per second / degrees per second|(% style="width:510px" %)S modifier only for {P}. SD modifier only for {D, MD}.|(% style="text-align:center; width:113px" %) 140 140 | 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| | MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 141 141 | 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| | O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 142 142 0 ... ... @@ -148,7 +148,7 @@ 148 148 Inherited from SSC-32 serial protocol 149 149 )))|(% style="text-align:center; width:113px" %) 150 150 | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| | D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 151 -| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| | WD| QWD| | | | ✓|degrees per second|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %) 151 +| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| | WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %) 152 152 | 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| | WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %) 153 153 | 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| | SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)((( 154 154 QSD: Add modifier "2" for instantaneous speed. ... ... @@ -220,15 +220,12 @@ 220 220 221 221 Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested. 222 222 223 -====== __4. Speed (**S** , **SD**) modifier__ ======223 +====== __4. Speed (**S**) modifier__ ====== 224 224 225 225 Example: #5P1500S750<cr> 226 -Example: #5D0SD180<cr> 227 227 228 - Modifier(S) isonly for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.227 +This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol. 229 229 230 -Modifer (S) is only for a position (D) or relative position (MD) action and determines the speed of the move in degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 180 degrees per second. 231 - 232 232 Query Speed (**QS**) 233 233 234 234 Example: #5QS<cr> might return *5QS300<cr> ... ... @@ -325,15 +325,15 @@ 325 325 326 326 ====== __10. Wheel Mode in Degrees (**WD**)__ ====== 327 327 328 -Ex: #5WD90<cr> 325 +Ex: #5WD900<cr> 329 329 330 330 This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations). 331 331 332 332 Query Wheel Mode in Degrees (**QWD**) 333 333 334 -Ex: #5QWD<cr> might return *5QWD90<cr> 331 +Ex: #5QWD<cr> might return *5QWD900<cr> 335 335 336 -The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise). 333 +The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise). 337 337 338 338 ====== __11. Wheel Mode in RPM (**WR**)__ ====== 339 339