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	1	+xwiki:XWiki.CBenson

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48	48
49	49	== Configuration Commands ==
50	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]].
	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:LSS - RC PWM.WebHome]].
52	52
53	53	1. Start with a number sign # (U+0023)
54	54	1. Servo ID number as an integer
...	...	@@ -118,17 +118,17 @@
118	118	| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
119	119	| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
120	120	| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
121		-See details below.
	121	+See details below
122	122	)))
123	123	| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
124	124	| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
125	125	| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
126		-| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
127		-| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
128		-| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
	126	+| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|Add modifier "2" for instantaneous speed
	127	+| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|Add modifier "2" for instantaneous speed
	128	+| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
129	129	| 15|//N/A (removed)//| | | | | | |
130	130	| 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
131		-| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
	131	+| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
132	132	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
133	133	| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
134	134	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
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283	283
284	284	Ex: #5QSD<cr> might return *5QSD1800<cr>
285	285
286		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD command is processed.
	286	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
287	287	If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
288	288
289	289	|**Command sent**|**Returned value (1/10 °)**
290		-|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command)
291		-|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR)
292		-|ex: #5QSR2<cr>|Current speed.
293		-|ex: #5QSR3<cr>|Target travel speed.
	290	+|ex: #5QSD<cr>|Current session value for maximum speed (set by latest SD/SR command)
	291	+|ex: #5QSD1<cr>|Current maximum speed configured (set by CSD/CSR)
	292	+|ex: #5QSD2<cr>|Current speed.
	293	+|ex: #5QSD3<cr>|Target travel speed.
294	294
295	295	Configure Speed in Degrees (**CSD**)
296	296
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308	308
309	309	Ex: #5QSR<cr> might return *5QSR45<cr>
310	310
311		-Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible.
	311	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
	312	+If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
312	312
313		-Configure Speed in Degrees (**CSR**)
	314	+|**Command sent**|**Returned value (1/10 °)**
	315	+|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command)
	316	+|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR)
	317	+|ex: #5QSR2<cr>|Current speed.
	318	+|ex: #5QSR3<cr>|Target travel speed.
314	314
	320	+Configure Speed in RPM (**CSR**)
	321	+
315	315	Ex: #5CSR45<cr>
316	316
317		-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.
	324	+Using the CSR 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 CSR 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.
318	318
319		-__14. Rigidity (R)__
	326	+__14. Angular Stiffness (AS)__
320	320
321		-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.
	328	+The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
322	322
323		-A positive value of "rigidity":
	330	+A positive value of "angular stiffness":
324	324
325	325	* The more torque will be applied to try to keep the desired position against external input / changes
326	326	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
...	...	@@ -332,17 +332,17 @@
332	332
333	333	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.
334	334
335		-Ex: #5R-2<cr>
	342	+Ex: #5AS-2<cr>
336	336
337		-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.
	344	+This reduces the angular stiffness 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.
338	338
339		-Ex: #5QR<cr>
	346	+Ex: #5QAS<cr>
340	340
341	341	Queries the value being used.
342	342
343		-Ex: #5CR<cr>
	350	+Ex: #5CAS<cr>
344	344
345		-Writes the desired rigidity value to memory.
	352	+Writes the desired angular stiffness value to memory.
346	346
347	347	__15. N/A (removed)__
348	348