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

Content

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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		-Action modifiers can only be used with certain commands.
	42	+Modified commands are command specific.
43	43	)))
44	44
	45	+(((
	46	+
	47	+)))
	48	+
45	45	== Configuration Commands ==
46	46
47	47	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]].
...	...	@@ -101,30 +101,6 @@
101	101	#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
102	102
103	103	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
104		-
105		-=== Virtual Angular Position ===
106		-
107		-{In progress}
108		-
109		-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.
110		-
111		-[[image:LSS-servo-positions.jpg]]
112		-
113		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
114		-
115		-#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
116		-
117		-#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
118		-
119		-#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.
120		-
121		-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.
122		-
123		-#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.
124		-
125		-#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
126		-
127		-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).
128	128	)))
129	129
130	130	= Command List =
...	...	@@ -146,10 +146,7 @@
146	146	| 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
147	147	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
148	148	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
149		-| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
150		-|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
151		-|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
152		-|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
	129	+| 15|//N/A (removed)//| | | | | | |
153	153	| 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
154	154	| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
155	155	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
...	...	@@ -161,18 +161,16 @@
161	161	| 24|Serial **N**umber| | QN| | | | none (integer)|
162	162	| 25|**F**irmware version| | QF| | | | none (integer)|
163	163	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
164		-| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
165		-| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
166		-| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
167		-| 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| |✓| |(((
168	168	CRC: Add modifier "1" for RC-position mode.
169	169	CRC: Add modifier "2" for RC-wheel mode.
170	170	Any other value for the modifier results in staying in smart mode.
171	171	Puts the servo into RC mode. To revert to smart mode, use the button menu.
172	172	)))
173		-|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
174		-|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
175		-|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
	150	+| | | | | | | | |
176	176
177	177	= Details =
178	178
...	...	@@ -355,7 +355,7 @@
355	355
356	356	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.
357	357
358		-__14. Angular Stiffness (**AS**)__
	333	+__14. Angular Stiffness (AS)__
359	359
360	360	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.
361	361
...	...	@@ -383,38 +383,10 @@
383	383
384	384	Writes the desired angular stiffness value to memory.
385	385
386		-__15. Angular Hold Stiffness (**AH**)__
	361	+__15. N/A (removed)__
387	387
388		-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.
389	389
390		-Ex: #5AH3<cr>
391		-
392		-This sets the holding stiffness for servo #5 to 3 for that session.
393		-
394		-Query Angular Hold Stiffness (**QAH**)
395		-
396		-Ex: #5QAH<cr> might return *5QAH3<cr>
397		-
398		-This returns the servo's angular holding stiffness value.
399		-
400		-Configure Angular Hold Stiffness (**CAH**)
401		-
402		-Ex: #5CAH2<cr>
403		-
404		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
405		-
406		-__15b: Angular Acceleration (**AA**)__
407		-
408		-{More details to come}
409		-
410		-__15c: Angular Deceleration (**AD**)__
411		-
412		-{More details to come}
413		-
414		-__15d: Motion Control (**MC**)__
415		-
416		-{More details to come}
417		-
418	418	__16. RGB LED (**LED**)__
419	419
420	420	Ex: #5LED3<cr>
...	...	@@ -559,7 +559,7 @@
559	559
560	560	__27. Query Voltage (**QV**)__
561	561
562		-Ex: #5QV<cr> might return *5QV11200<cr>
	509	+Ex: #5QV<cr> might return *5QV112<cr>
563	563
564	564	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).
565	565
...	...	@@ -587,13 +587,13 @@
587	587
588	588	EX: #5CRC<cr>
589	589
590		-__31. RESET__
	537	+__**RESET**__
591	591
592	592	Ex: #5RESET<cr> or #5RS<cr>
593	593
594	594	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
595	595
596		-__32. DEFAULT & CONFIRM__
	543	+**__DEFAULT __**__& **CONFIRM**__
597	597
598	598	Ex: #5DEFAULT<cr>
599	599
...	...	@@ -605,7 +605,7 @@
605	605
606	606	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
607	607
608		-__33. UPDATE & CONFIRM__
	555	+**__UPDATE __**__& **CONFIRM**__
609	609
610	610	Ex: #5UPDATE<cr>
611	611
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617	617
618	618	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
619	619
620		-=== ===
	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.
	576	+
	577	+#1D-300<cr> The servo is commander 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> 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.
	582	+
	583	+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.
	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, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.