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

Content

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1		-= Protocol concepts =
2		-
3	3	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.
4	4
5		-== Session ==
	3	+=== Session ===
6	6
7	7	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
8	8
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44	44	Action modifiers can only be used with certain commands.
45	45	)))
46	46
	45	+(((
	46	+
	47	+)))
	48	+
47	47	== Configuration Commands ==
48	48
49	49	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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148	148	| 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
149	149	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
150	150	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
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
	153	+| 15|//N/A (removed)//| | | | | | |
155	155	| 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
156	156	| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
157	157	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
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159	159	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
160	160	| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
161	161	| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
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	+| 23|**M**odel| | QM| | | | none (integer)|
164	164	| 24|Serial **N**umber| | QN| | | | none (integer)|
165	165	| 25|**F**irmware version| | QF| | | | none (integer)|
166	166	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
167	167	| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
168		-| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
169		-| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
	166	+| 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
	167	+| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
170	170	| 30|**RC** Mode| | |CRC| |✓|none|(((
171	171	CRC: Add modifier "1" for RC-position mode.
172	172	CRC: Add modifier "2" for RC-wheel mode.
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358	358
359	359	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.
360	360
361		-__14. Angular Stiffness (**AS**)__
	359	+__14. Angular Stiffness (AS)__
362	362
363	363	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.
364	364
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386	386
387	387	Writes the desired angular stiffness value to memory.
388	388
389		-__15. Angular Hold Stiffness (**AH**)__
	387	+__15. N/A (removed)__
390	390
391		-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.
392	392
393		-Ex: #5AH3<cr>
394		-
395		-This sets the holding stiffness for servo #5 to 3 for that session.
396		-
397		-Query Angular Hold Stiffness (**QAH**)
398		-
399		-Ex: #5QAH<cr> might return *5QAH3<cr>
400		-
401		-This returns the servo's angular holding stiffness value.
402		-
403		-Configure Angular Hold Stiffness (**CAH**)
404		-
405		-Ex: #5CAH2<cr>
406		-
407		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
408		-
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		-
421	421	__16. RGB LED (**LED**)__
422	422
423	423	Ex: #5LED3<cr>
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525	525
526	526	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>).
527	527
528		-__23. Query Model String (**QMS**)__
	498	+__23. Query Model (**QM**)__
529	529
530		-Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
	500	+Ex: #5QM<cr> might return *5QM11<cr>
531	531
532		-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)
533	533
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		-
540	540	__24. Query Serial Number (**QN**)__
541	541
542	542	Ex: #5QN<cr> might return *5QN~_~_<cr>
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568	568
569	569	__27. Query Voltage (**QV**)__
570	570
571		-Ex: #5QV<cr> might return *5QV11200<cr>
	535	+Ex: #5QV<cr> might return *5QV112<cr>
572	572
573	573	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).
574	574