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

Content

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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		-
67	67	== Query Commands ==
68	68
69	69	Query commands are sent serially to the servo's Rx pin and must be set in the following format:
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91	91	)))
92	92
93	93	Indicates that servo #5 is currently at 144.3 degrees.
	72	+)))
94	94
95		-**Session vs Configuration Query**
	74	+== Configuration Commands ==
96	96
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.
	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]].
98	98
99		-In order to query the value in EEPROM, add a '1' to the query command.
	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>'
100	100
101		-Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
	84	+Ex: #5CO-50<cr>
102	102
103		-After RESET: #5SR4<cr> sets the session's speed to 4rpm.
	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.
104	104
105		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
	88	+Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
106	106
107		-#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
108		-)))
	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.
109	109
110	110	= Command List =
111	111
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361	361
362	362	__17. Identification Number__
363	363
364		-A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
	346	+A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 1. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
365	365
366	366	Query Identification (**QID**)
367	367