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Author

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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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177	177	|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
178	178	|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
179	179
180		-== Details ==
	178	+= Details =
181	181
182		-==== __1. Limp (**L**)__ ====
	180	+__1. Limp (**L**)__
183	183
184	184	Example: #5L<cr>
185	185
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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>
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625	625	Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
626	626
627	627	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	608	+
	609	+=== ===