Last modified by Eric Nantel on 2025/06/06 07:47

From version < 49.1 >
edited by RB1
on 2018/09/10 16:55
To version < 56.1 >
edited by RB1
on 2018/09/14 16:02
< >
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -39,7 +39,7 @@
39 39  
40 40  Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
41 41  
42 -Modified commands are command specific.
42 +Action modifiers can only be used with certain commands.
43 43  )))
44 44  
45 45  (((
... ... @@ -105,6 +105,30 @@
105 105  #5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
106 106  
107 107  #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
108 +
109 +=== Virtual Angular Position ===
110 +
111 +{In progress}
112 +
113 +A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
114 +
115 +[[image:LSS-servo-positions.jpg]]
116 +
117 +Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
118 +
119 +#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
120 +
121 +#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
122 +
123 +#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
124 +
125 +Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
126 +
127 +#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
128 +
129 +#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
130 +
131 +If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
108 108  )))
109 109  
110 110  = Command List =
... ... @@ -128,7 +128,7 @@
128 128  | 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
129 129  | 15|//N/A (removed)//| | | | | | |
130 130  | 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
131 -| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
155 +| 17|**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)
134 134  | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
... ... @@ -147,7 +147,9 @@
147 147  Any other value for the modifier results in staying in smart mode.
148 148  Puts the servo into RC mode. To revert to smart mode, use the button menu.
149 149  )))
150 -| | | | | | | | |
174 +|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
175 +|32|**DEFAULT**| | | | |✓|none|Revert to firmware defaults. See command for details
176 +|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
151 151  
152 152  = Details =
153 153  
... ... @@ -522,19 +522,25 @@
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**)__
551 +__30. RC Mode (**CRC**)__
526 526  
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 smart mode only using the button menu.
553 +This command puts the servo into RC mode (position or continuous), 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 smart mode by using the button menu.
528 528  
555 +|**Command sent**|**Note**
556 +|ex: #5CRC<cr>|Stay in smart mode.
557 +|ex: #5CRC1<cr>|Change to RC position mode.
558 +|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
559 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
560 +
529 529  EX: #5CRC<cr>
530 530  
531 -__**RESET**__
563 +__31. RESET__
532 532  
533 533  Ex: #5RESET<cr> or #5RS<cr>
534 534  
535 535  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
536 536  
537 -**__DEFAULT __**__& **CONFIRM**__
569 +__32. DEFAULT & CONFIRM__
538 538  
539 539  Ex: #5DEFAULT<cr>
540 540  
... ... @@ -546,7 +546,7 @@
546 546  
547 547  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
548 548  
549 -**__UPDATE __**__& **CONFIRM**__
581 +__33. UPDATE & CONFIRM__
550 550  
551 551  Ex: #5UPDATE<cr>
552 552  
... ... @@ -558,22 +558,4 @@
558 558  
559 559  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
560 560  
561 -=== Virtual Angular Position ===
562 -
563 -{In progress}
564 -
565 -A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
566 -
567 -[[image:LSS-servo-positions.jpg]]
568 -
569 -Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
570 -
571 -#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
572 -
573 -#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
574 -
575 -#1D-4200<cr> The servo rotates counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees and (420.0-360.0) stopping at an absolute position of 60.0 degrees, but virtual position of -420.0.
576 -
577 -Although the final position would be the same as if the servo were commanded to move to -60.0 degrees, it is in fact at -420.0 degrees.
578 -
579 -#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
593 +=== ===
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