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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|**A**ngular **H**olding Stiffness|AH|QAH|CAH| |✓|none|-10 to +10, with default as 0.
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
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400	400
401	401	This returns the servo's angular holding stiffness value.
402	402
403		-Configure Angular Hold Stiffness (**CAH**)
	401	+Configure Angular Hold Stiffness (CAH)
404	404
405	405	Ex: #5CAH2<cr>
406	406
407	407	This writes the angular holding stiffness of servo #5 to 2 to EEPROM
408	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**)__
	514	+__23. Query Model (**QM**)__
529	529
530		-Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
	516	+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.
	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)
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>