Summary

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Author

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

Content

...	...	@@ -105,30 +105,6 @@
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).
132	132	)))
133	133
134	134	= Command List =
...	...	@@ -162,18 +162,16 @@
162	162	| 24|Serial **N**umber| | QN| | | | none (integer)|
163	163	| 25|**F**irmware version| | QF| | | | none (integer)|
164	164	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
165		-| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
	141	+| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
166	166	| 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
167	167	| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
168		-| 30|**RC** Mode| | |CRC| |✓|none|(((
	144	+| 30|**RC** Mode| | |CRC| |✓| |(((
169	169	CRC: Add modifier "1" for RC-position mode.
170	170	CRC: Add modifier "2" for RC-wheel mode.
171	171	Any other value for the modifier results in staying in smart mode.
172	172	Puts the servo into RC mode. To revert to smart mode, use the button menu.
173	173	)))
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.
	150	+| | | | | | | | |
177	177
178	178	= Details =
179	179
...	...	@@ -532,7 +532,7 @@
532	532
533	533	__27. Query Voltage (**QV**)__
534	534
535		-Ex: #5QV<cr> might return *5QV11200<cr>
	509	+Ex: #5QV<cr> might return *5QV112<cr>
536	536
537	537	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).
538	538
...	...	@@ -560,13 +560,13 @@
560	560
561	561	EX: #5CRC<cr>
562	562
563		-__31. RESET__
	537	+__**RESET**__
564	564
565	565	Ex: #5RESET<cr> or #5RS<cr>
566	566
567	567	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
568	568
569		-__32. DEFAULT & CONFIRM__
	543	+**__DEFAULT __**__& **CONFIRM**__
570	570
571	571	Ex: #5DEFAULT<cr>
572	572
...	...	@@ -578,7 +578,7 @@
578	578
579	579	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
580	580
581		-__33. UPDATE & CONFIRM__
	555	+**__UPDATE __**__& **CONFIRM**__
582	582
583	583	Ex: #5UPDATE<cr>
584	584
...	...	@@ -590,4 +590,27 @@
590	590
591	591	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
592	592
593		-=== ===
	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).