Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -287,10 +287,10 @@
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: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
	291	+|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
	292	+|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
	293	+|ex: #5QSD3<cr>|Target travel speed
294	294
295	295	Configure Speed in Degrees (**CSD**)
296	296
...	...	@@ -312,10 +312,10 @@
312	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:
313	313
314	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.
	315	+|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
	316	+|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
	317	+|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
	318	+|ex: #5QSR3<cr>|Target travel speed
319	319
320	320	Configure Speed in RPM (**CSR**)
321	321
...	...	@@ -323,11 +323,11 @@
323	323
324	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.
325	325
326		-__14. Rigidity (R)__
	326	+__14. Angular Stiffness (AS)__
327	327
328		-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.
329	329
330		-A positive value of "rigidity":
	330	+A positive value of "angular stiffness":
331	331
332	332	* The more torque will be applied to try to keep the desired position against external input / changes
333	333	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
...	...	@@ -339,17 +339,17 @@
339	339
340	340	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.
341	341
342		-Ex: #5R-2<cr>
	342	+Ex: #5AS-2<cr>
343	343
344		-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.
345	345
346		-Ex: #5QR<cr>
	346	+Ex: #5QAS<cr>
347	347
348	348	Queries the value being used.
349	349
350		-Ex: #5CR<cr>
	350	+Ex: #5CAS<cr>
351	351
352		-Writes the desired rigidity value to memory.
	352	+Writes the desired angular stiffness value to memory.
353	353
354	354	__15. N/A (removed)__
355	355