Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
Change comment: Update document after refactoring.
Summary
-
Page properties (2 modified, 0 added, 0 removed)
Details
- Page properties
-
- Author
-
... ... @@ -1,1 +1,1 @@ 1 -xwiki:XWiki. RB11 +xwiki:XWiki.CBenson - Content
-
... ... @@ -123,11 +123,11 @@ 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 speed127 -| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm| QSR:Add modifier "2" for instantaneous speed128 -| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none| -4to +4, but suggested values are between 0 to +4126 +| 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=WHITE130 +| 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) ... ... @@ -141,13 +141,8 @@ 141 141 | 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)| 142 142 | 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp) 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 ... ... @@ -516,18 +516,12 @@ 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>