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

Content

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1		-{{toc depth="3"/}}
2		-
3		-= Protocol concepts =
4		-
5	5	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.
6	6
7		-== Session ==
	3	+=== Session ===
8	8
9	9	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
10	10
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46	46	Action modifiers can only be used with certain commands.
47	47	)))
48	48
	45	+(((
	46	+
	47	+)))
	48	+
49	49	== Configuration Commands ==
50	50
51	51	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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150	150	| 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
151	151	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
152	152	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
153		-| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
154		-|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
155		-|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
156		-|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
	153	+| 15|//N/A (removed)//| | | | | | |
157	157	| 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
158	158	| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
159	159	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
...	...	@@ -161,8 +161,7 @@
161	161	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
162	162	| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
163	163	| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
164		-| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
165		-| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
	161	+| 23|**M**odel| | QM| | | | none (integer)|
166	166	| 24|Serial **N**umber| | QN| | | | none (integer)|
167	167	| 25|**F**irmware version| | QF| | | | none (integer)|
168	168	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
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179	179	|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
180	180	|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
181	181
182		-== Details ==
	178	+= Details =
183	183
184		-==== __1. Limp (**L**)__ ====
	180	+__1. Limp (**L**)__
185	185
186	186	Example: #5L<cr>
187	187
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360	360
361	361	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.
362	362
363		-__14. Angular Stiffness (**AS**)__
	359	+__14. Angular Stiffness (AS)__
364	364
365	365	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.
366	366
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388	388
389	389	Writes the desired angular stiffness value to memory.
390	390
391		-__15. Angular Hold Stiffness (**AH**)__
	387	+__15. N/A (removed)__
392	392
393		-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.
394	394
395		-Ex: #5AH3<cr>
396		-
397		-This sets the holding stiffness for servo #5 to 3 for that session.
398		-
399		-Query Angular Hold Stiffness (**QAH**)
400		-
401		-Ex: #5QAH<cr> might return *5QAH3<cr>
402		-
403		-This returns the servo's angular holding stiffness value.
404		-
405		-Configure Angular Hold Stiffness (**CAH**)
406		-
407		-Ex: #5CAH2<cr>
408		-
409		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
410		-
411		-__15b: Angular Acceleration (**AA**)__
412		-
413		-{More details to come}
414		-
415		-__15c: Angular Deceleration (**AD**)__
416		-
417		-{More details to come}
418		-
419		-__15d: Motion Control (**MC**)__
420		-
421		-{More details to come}
422		-
423	423	__16. RGB LED (**LED**)__
424	424
425	425	Ex: #5LED3<cr>
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527	527
528	528	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>).
529	529
530		-__23. Query Model String (**QMS**)__
	498	+__23. Query Model (**QM**)__
531	531
532		-Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
	500	+Ex: #5QM<cr> might return *5QM11<cr>
533	533
534		-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)
535	535
536		-__23b. Query Model (**QM**)__
537		-
538		-Ex: #5QM<cr> might return *5QM68702699520cr>
539		-
540		-This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
541		-
542	542	__24. Query Serial Number (**QN**)__
543	543
544	544	Ex: #5QN<cr> might return *5QN~_~_<cr>
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627	627	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.
628	628
629	629	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	592	+
	593	+=== ===