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

Content

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42	42	Action modifiers can only be used with certain commands.
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]].
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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
	153	+| 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)|
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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 **String**| | QMS| | | | none (string)| Recommended to determine the model|
161		-| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
	161	+| 23|**M**odel| | QM| | | | none (integer)|
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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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**)__
	359	+__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
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384	384
385	385	Writes the desired angular stiffness value to memory.
386	386
387		-__15. Angular Hold Stiffness (**AH**)__
	387	+__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.
	389	+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		-__15b: Angular Acceleration (**AA**)__
408		-
409		-{More details to come}
410		-
411		-__15c: Angular Deceleration (**AD**)__
412		-
413		-{More details to come}
414		-
415		-__15d: Motion Control (**MC**)__
416		-
417		-{More details to come}
418		-
419	419	__16. RGB LED (**LED**)__
420	420
421	421	Ex: #5LED3<cr>
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523	523
524	524	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>).
525	525
526		-__23. Query Model String (**QMS**)__
	498	+__23. Query Model (**QM**)__
527	527
528		-Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
	500	+Ex: #5QM<cr> might return *5QM11<cr>
529	529
530		-This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
	502	+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)
531	531
532		-__23b. Query Model (**QM**)__
533		-
534		-Ex: #5QM<cr> might return *5QM68702699520cr>
535		-
536		-This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
537		-
538	538	__24. Query Serial Number (**QN**)__
539	539
540	540	Ex: #5QN<cr> might return *5QN~_~_<cr>