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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: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:Lynxmotion Smart Servos (LSS).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
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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|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
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/SR command is processed.
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:
	286	+Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SD or CSD is not possible.
288	288
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.
294		-
295	295	Configure Speed in Degrees (**CSD**)
296	296
297	297	Ex: #5CSD1800<cr>
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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:
	304	+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.
	306	+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.
	310	+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
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391	391
392	392	__18. Baud Rate__
393	393
394		-A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps*. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
395		-\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
	380	+A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps* bits per second. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
	381	+*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep that in mind if using those / testing them out.
396	396
397	397	Query Baud Rate (**QB**)
398	398