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

Content

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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 =
...	...	@@ -126,7 +126,7 @@
126	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	127	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
128	128	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
129		-| 15|//N/A (removed)//| | | | | | |
	153	+| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| |✓|none|-10 to +10, with default as 0.
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	131	| 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)|
...	...	@@ -138,16 +138,18 @@
138	138	| 24|Serial **N**umber| | QN| | | | none (integer)|
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		-| 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)
143		-| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
144		-| 30|**RC** Mode| | |CRC| |✓| |(((
	165	+| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
	166	+| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
	167	+| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
	168	+| 30|**RC** Mode| | |CRC| |✓|none|(((
145	145	CRC: Add modifier "1" for RC-position mode.
146	146	CRC: Add modifier "2" for RC-wheel mode.
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 default values. See command for details
	176	+|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
151	151
152	152	= Details =
153	153
...	...	@@ -330,7 +330,7 @@
330	330
331	331	Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
332	332
333		-__14. Angular Stiffness (AS)__
	359	+__14. Angular Stiffness (**AS**)__
334	334
335	335	The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
336	336
...	...	@@ -358,10 +358,26 @@
358	358
359	359	Writes the desired angular stiffness value to memory.
360	360
361		-__15. N/A (removed)__
	387	+__15. Angular Hold Stiffness (**AH**)__
362	362
363		-This command has been removed.
	389	+The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
364	364
	391	+Ex: #5AH3<cr>
	392	+
	393	+This sets the holding stiffness for servo #5 to 3 for that session.
	394	+
	395	+Query Angular Hold Stiffness (**QAH**)
	396	+
	397	+Ex: #5QAH<cr> might return *5QAH3<cr>
	398	+
	399	+This returns the servo's angular holding stiffness value.
	400	+
	401	+Configure Angular Hold Stiffness (CAH)
	402	+
	403	+Ex: #5CAH2<cr>
	404	+
	405	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	406	+
365	365	__16. RGB LED (**LED**)__
366	366
367	367	Ex: #5LED3<cr>
...	...	@@ -506,7 +506,7 @@
506	506
507	507	__27. Query Voltage (**QV**)__
508	508
509		-Ex: #5QV<cr> might return *5QV112<cr>
	551	+Ex: #5QV<cr> might return *5QV11200<cr>
510	510
511	511	The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
512	512
...	...	@@ -534,13 +534,13 @@
534	534
535	535	EX: #5CRC<cr>
536	536
537		-__**RESET**__
	579	+__31. RESET__
538	538
539	539	Ex: #5RESET<cr> or #5RS<cr>
540	540
541	541	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
542	542
543		-**__DEFAULT __**__& **CONFIRM**__
	585	+__32. DEFAULT & CONFIRM__
544	544
545	545	Ex: #5DEFAULT<cr>
546	546
...	...	@@ -552,7 +552,7 @@
552	552
553	553	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
554	554
555		-**__UPDATE __**__& **CONFIRM**__
	597	+__33. UPDATE & CONFIRM__
556	556
557	557	Ex: #5UPDATE<cr>
558	558
...	...	@@ -564,27 +564,4 @@
564	564
565	565	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
566	566
567		-=== Virtual Angular Position ===
568		-
569		-{In progress}
570		-
571		-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.
572		-
573		-[[image:LSS-servo-positions.jpg]]
574		-
575		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
576		-
577		-#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
578		-
579		-#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
580		-
581		-#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.
582		-
583		-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.
584		-
585		-#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.
586		-
587		-#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
588		-
589		-
590		-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).
	609	+=== ===