Last modified by Eric Nantel on 2024/11/21 09:43
From version < 34.1 >
edited by RB1
on 2018/05/15 13:02
To version < 37.1 >
edited by Coleman Benson
on 2018/05/15 14:44
< >
Change comment: There is no comment for this version

Summary

Details

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Author
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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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484 484  
485 485  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
486 486  
487 -|*Value returned****|**Status**|**Detailed description**
489 +|*Value returned|**Status**|**Detailed description**
488 488  |ex: *5Q0<cr>|Unknown|LSS is unsure
489 489  |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
490 490  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
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