Changes for page LSS Communication Protocol

Last modified by Eric Nantel on 2024/11/21 09:43

From version < 30.1 >

edited by Coleman Benson
on 2018/05/11 13:25

To version < 37.1 >

edited by Coleman Benson
on 2018/05/15 14:44

< >

Change comment: There is no comment for this version

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@@ -137,7
          +137,7 @@
  | 23|**M**odel| | QM| | | | none (integer)|
  | 24|Serial **N**umber| | QN| | | | none (integer)|
  | 25|**F**irmware version| | QF| | | | none (integer)|
--| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)|
++| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
  | 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
  | 28|**T**emperature| | QT| | | ✓| degrees Celsius|
  | 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
@@ -232,10
          +232,10 @@
  Query Position in Pulse (**QP**)
--Example: #5QP<cr> might return *5QP
++Example: #5QP<cr> might return *5QP2334
  This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
--Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds.
++Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
  __9. Position in Degrees (**D**)__
@@ -247,8
          +247,10 @@
  Query Position in Degrees (**QD**)
--Example: #5QD<cr> might return *5QD0<cr>
++Example: #5QD<cr> might return *5QD132<cr>
++This means the servo is located at 13.2 degrees.
++
  __10. Wheel Mode in Degrees (**WD**)__
  Ex: #5WD900<cr>
@@ -287,10
          +287,10 @@
  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:
  |**Command sent**|**Returned value (1/10 °)**
--|ex: #5QSD<cr>|Current session value for maximum speed (set by latest SD/SR command)
--|ex: #5QSD1<cr>|Current maximum speed configured (set by CSD/CSR)
--|ex: #5QSD2<cr>|Current speed.
--|ex: #5QSD3<cr>|Target travel speed.
++|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
++|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
++|ex: #5QSD3<cr>|Target travel speed
  Configure Speed in Degrees (**CSD**)
@@ -312,10
          +312,10 @@
  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:
  |**Command sent**|**Returned value (1/10 °)**
--|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command)
--|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR)
--|ex: #5QSR2<cr>|Current speed.
--|ex: #5QSR3<cr>|Target travel speed.
++|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
++|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
++|ex: #5QSR3<cr>|Target travel speed
  Configure Speed in RPM (**CSR**)
@@ -323,11
          +323,11 @@
  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.
--__14. Rigidity (R)__
++__14. Angular Stiffness (AS)__
--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.
++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.
--A positive value of "rigidity":
++A positive value of "angular stiffness":
  * The more torque will be applied to try to keep the desired position against external input / changes
  * 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 @@
  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.
--Ex: #5R-2<cr>
++Ex: #5AS-2<cr>
--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.
++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.
--Ex: #5QR<cr>
++Ex: #5QAS<cr>
  Queries the value being used.
--Ex: #5CR<cr>
++Ex: #5CAS<cr>
--Writes the desired rigidity value to memory.
++Writes the desired angular stiffness value to memory.
  __15. N/A (removed)__
@@ -371,7
          +371,7 @@
  Configure LED Color (**CLED**)
--Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
++Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
  __17. Identification Number__
@@ -432,13
          +432,13 @@
  Ex: #5QFP<cr> might return *5QFP1550<cr>
--The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
++The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
--Configure First Position in Pulses (CFP)
++Configure First Position in Pulses (**CFP**)
  Ex: #5CP1550<cr>
--This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up.
++This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
  __21. First / Initial Position (Degrees)__
@@ -482,9
          +482,20 @@
  __26. Query Status (**Q**)__
--Ex: #5Q<cr> might return *5Q_<cr>
++Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
--{Description coming soon}
++|*Value returned|**Status**|**Detailed description**
++|ex: *5Q0<cr>|Unknown|LSS is unsure
++|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
++|ex: *5Q4<cr>|Traveling|Moving at a stable speed
++|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
++|ex: *5Q6<cr>|Holding|Keeping current position
++|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
++|ex: *5Q8<cr>|Outside limits|More details coming soon
++|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
++|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
  __27. Query Voltage (**QV**)__

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