Summary

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Author

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

Content

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	1	+= Protocol concepts =
	2	+
1	1	The Lynxmotion Smart Servo (LSS) protocol was created in order to be as simple and straightforward as possible from a user perspective, while at the same time trying to stay compact and robust yet highly versatile. Almost everything one might expect to be able to configure for a smart servo motor is available.
2	2
3		-=== Session ===
	5	+== Session ==
4	4
5	5	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
6	6
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42	42	Action modifiers can only be used with certain commands.
43	43	)))
44	44
45		-(((
46		-
47		-)))
48		-
49	49	== Configuration Commands ==
50	50
51	51	Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:LSS - Overview (DEV).LSS - RC PWM.WebHome]].
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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.
	151	+| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
	152	+|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	153	+|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	154	+|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
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)|
...	...	@@ -158,7 +158,8 @@
158	158	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
159	159	| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
160	160	| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
161		-| 23|**M**odel| | QM| | | | none (integer)|
	162	+| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
	163	+| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
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
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175	175	|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
176	176	|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
177	177
178		-= Details =
	180	+== Details ==
179	179
180	180	__1. Limp (**L**)__
181	181
...	...	@@ -398,12 +398,24 @@
398	398
399	399	This returns the servo's angular holding stiffness value.
400	400
401		-Configure Angular Hold Stiffness (CAH)
	403	+Configure Angular Hold Stiffness (**CAH**)
402	402
403	403	Ex: #5CAH2<cr>
404	404
405	405	This writes the angular holding stiffness of servo #5 to 2 to EEPROM
406	406
	409	+__15b: Angular Acceleration (**AA**)__
	410	+
	411	+{More details to come}
	412	+
	413	+__15c: Angular Deceleration (**AD**)__
	414	+
	415	+{More details to come}
	416	+
	417	+__15d: Motion Control (**MC**)__
	418	+
	419	+{More details to come}
	420	+
407	407	__16. RGB LED (**LED**)__
408	408
409	409	Ex: #5LED3<cr>
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511	511
512	512	The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
513	513
514		-__23. Query Model (**QM**)__
	528	+__23. Query Model String (**QMS**)__
515	515
516		-Ex: #5QM<cr> might return *5QM11<cr>
	530	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
517	517
518		-This reply means the servo model is 1.1, meaning high speed servo, first revision. 1=HS (high speed) 2=ST (standard) 3=HT (high torque)
	532	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
519	519
	534	+__23b. Query Model (**QM**)__
	535	+
	536	+Ex: #5QM<cr> might return *5QM68702699520cr>
	537	+
	538	+This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
	539	+
520	520	__24. Query Serial Number (**QN**)__
521	521
522	522	Ex: #5QN<cr> might return *5QN~_~_<cr>
...	...	@@ -605,5 +605,3 @@
605	605	Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
606	606
607	607	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
608		-
609		-=== ===