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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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157	157	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
158	158	| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
159	159	| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
160		-| 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)|
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
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522	522
523	523	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>).
524	524
525		-__23. Query Model (**QM**)__
	528	+__23. Query Model String (**QMS**)__
526	526
527		-Ex: #5QM<cr> might return *5QM11<cr>
	530	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
528	528
529		-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.
530	530
	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	+
531	531	__24. Query Serial Number (**QN**)__
532	532
533	533	Ex: #5QN<cr> might return *5QN~_~_<cr>