Last modified by Eric Nantel on 2024/11/21 09:43
From version < 198.1 >
edited by Coleman Benson
on 2021/02/26 15:36
To version < 200.1 >
edited by Eric Nantel
on 2021/06/11 08:47
< >
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
Content
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212 212  |(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
213 213  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
214 214  | |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
215 -| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.
215 +| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.
216 216  
217 217  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
218 218  
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520 520  
521 521  Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
522 522  
523 -This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation.<div class="wikimodel-emptyline"><br><br>
524 -EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager.
525 -</div>
523 +This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command.
526 526  
525 +<div class="wikimodel-emptyline"></div>
526 +
527 527  Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
528 528  
529 529  Ex: #5QEM&lt;cr&gt; might return *5QEM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
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839 839  
840 840  ====== __Speed (**S**, **SD**) modifier__ ======
841 841  
842 -{{html wiki="true" clean="false"}}
842 +{{html clean="false" wiki="true" __cke_selected_macro="true"}}
843 843  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
844 844  Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
845 845  Modifier (S) is 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.<div class="wikimodel-emptyline"></div>
846 846  Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
847 -Modifier (SD) 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.<div class="wikimodel-emptyline"></div>
847 +Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenth of 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 18 degrees per second.<div class="wikimodel-emptyline"></div>
848 848  Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
849 849  Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
850 850  This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
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