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Parent

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1		-lynxmotion:LSS - Overview (DEV).WebHome
	1	+Main.WebHome

Author

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

Content

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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 - Overview (DEV).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: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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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)|QSD: Add modifier "2" for instantaneous speed
127		-| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
128		-| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
	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
	128	+| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
129	129	| 15|//N/A (removed)//| | | | | | |
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=MAGENTA, 7=WHITE
	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=VIOLET 7=MAGENTA, 8=WHITE
131	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)
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139	139	| 25|**F**irmware version| | QF| | | | none (integer)|
140	140	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
141	141	| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
142		-| 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
	142	+| 28|**T**emperature| | QT| | | ✓| degrees Celsius|
143	143	| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
144		-| 30|**RC** Mode| | |CRC| |✓| |(((
145		-CRC: Add modifier "1" for RC-position mode.
146		-CRC: Add modifier "2" for RC-wheel mode.
147		-Any other value for the modifier results in staying in smart mode.
148		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
149		-)))
150	150	| | | | | | | | |
	145	+| | | | | | | | |
151	151
152	152	= Details =
153	153
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516	516
517	517	The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
518	518
519		-__29. Query Current (**QC**)__
	514	+__29. Query Current (QC)__
520	520
521	521	Ex: #5QC<cr> might return *5QC140<cr>
522	522
523	523	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
524	524
525		-__20. RC Mode (**CRC**)__
526		-
527		-This command puts the servo into RC mode, where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into serial model only using the button menu.
528		-
529		-EX: #5CRC<cr>
530		-
531	531	__**RESET**__
532	532
533	533	Ex: #5RESET<cr> or #5RS<cr>