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

Content

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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|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
	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	128	| 14|**R**igidity| R| QR| CR| ✓| ✓|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
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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/SR 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 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: #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.
	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.
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		-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:
	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.
313	313
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.
	313	+Configure Speed in Degrees (**CSR**)
319	319
320		-Configure Speed in RPM (**CSR**)
321		-
322	322	Ex: #5CSR45<cr>
323	323
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.
	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.
325	325
326	326	__14. Rigidity (R)__
327	327