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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 =
...	...	@@ -150,7 +150,7 @@
150	150	| 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
151	151	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
152	152	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
153		-| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| |✓|none|-10 to +10, with default as 0.
	129	+| 15|//N/A (removed)//| | | | | | |
154	154	| 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
155	155	| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
156	156	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
...	...	@@ -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)|
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|(((
	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| |✓| |(((
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
...	...	@@ -356,7 +356,7 @@
356	356
357	357	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.
358	358
359		-__14. Angular Stiffness (**AS**)__
	333	+__14. Angular Stiffness (AS)__
360	360
361	361	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.
362	362
...	...	@@ -384,26 +384,10 @@
384	384
385	385	Writes the desired angular stiffness value to memory.
386	386
387		-__15. Angular Hold Stiffness (**AH**)__
	361	+__15. N/A (removed)__
388	388
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.
	363	+This command has been removed.
390	390
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		-
407	407	__16. RGB LED (**LED**)__
408	408
409	409	Ex: #5LED3<cr>
...	...	@@ -548,7 +548,7 @@
548	548
549	549	__27. Query Voltage (**QV**)__
550	550
551		-Ex: #5QV<cr> might return *5QV11200<cr>
	509	+Ex: #5QV<cr> might return *5QV112<cr>
552	552
553	553	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).
554	554
...	...	@@ -576,13 +576,13 @@
576	576
577	577	EX: #5CRC<cr>
578	578
579		-__31. RESET__
	537	+__**RESET**__
580	580
581	581	Ex: #5RESET<cr> or #5RS<cr>
582	582
583	583	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
584	584
585		-__32. DEFAULT & CONFIRM__
	543	+**__DEFAULT __**__& **CONFIRM**__
586	586
587	587	Ex: #5DEFAULT<cr>
588	588
...	...	@@ -594,7 +594,7 @@
594	594
595	595	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
596	596
597		-__33. UPDATE & CONFIRM__
	555	+**__UPDATE __**__& **CONFIRM**__
598	598
599	599	Ex: #5UPDATE<cr>
600	600
...	...	@@ -606,4 +606,27 @@
606	606
607	607	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
608	608
609		-=== ===
	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).