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

Content

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232	232
233	233	Query Position in Pulse (**QP**)
234	234
235		-Example: #5QP<cr> might return *5QP
	235	+Example: #5QP<cr> might return *5QP2334
236	236
237	237	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.
238		-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.
	238	+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).
239	239
240	240	__9. Position in Degrees (**D**)__
241	241
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247	247
248	248	Query Position in Degrees (**QD**)
249	249
250		-Example: #5QD<cr> might return *5QD0<cr>
	250	+Example: #5QD<cr> might return *5QD132<cr>
251	251
	252	+This means the servo is located at 13.2 degrees.
	253	+
252	252	__10. Wheel Mode in Degrees (**WD**)__
253	253
254	254	Ex: #5WD900<cr>
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371	371
372	372	Configure LED Color (**CLED**)
373	373
374		-Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
	376	+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.
375	375
376	376	__17. Identification Number__
377	377
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432	432
433	433	Ex: #5QFP<cr> might return *5QFP1550<cr>
434	434
435		-The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
	437	+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").
436	436
437		-Configure First Position in Pulses (CFP)
	439	+Configure First Position in Pulses (**CFP**)
438	438
439	439	Ex: #5CP1550<cr>
440	440
441		-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.
	443	+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).
442	442
443	443	__21. First / Initial Position (Degrees)__
444	444
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482	482
483	483	__26. Query Status (**Q**)__
484	484
485		-Ex: #5Q<cr> might return *5Q_<cr>
	487	+Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
486	486
487		-{Description coming soon}
	489	+|*Value returned|**Status**|**Detailed description**
	490	+|ex: *5Q0<cr>|Unknown|LSS is unsure
	491	+|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
	492	+|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
	493	+|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
	494	+|ex: *5Q4<cr>|Traveling|Moving at a stable speed
	495	+|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
	496	+|ex: *5Q6<cr>|Holding|Keeping current position
	497	+|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
	498	+|ex: *5Q8<cr>|Outside limits|More details coming soon
	499	+|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
	500	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
488	488
489	489	__27. Query Voltage (**QV**)__
490	490