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	1	+xwiki:XWiki.ENantel

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5	5
6	6	= Firmware Versions =
7	7
8		-This section contains details about official firmware releases for the the Lynxmotion Smart Servos (LSS). Information includes release date (yyyy-mm-dd), and which new features / fixes / etc. were included. It also provides and any details about known issues or other warnings. If you are unsure how to proceed to update your LSS, please see [[this guide>>doc:lynxmotion-smart-servo.lss-configuration-software.lss-config-firmware-update.WebHome]].
	8	+This section contains details about official firmware releases for the the Lynxmotion Smart Servos (LSS). Information includes release date (yyyy-mm-dd), and which new features / fixes / etc. were included. It also provides and any details about known issues or other warnings. If you are unsure how to proceed to update your LSS, please see [[this guide>>doc:ses-v2.lynxmotion-smart-servo.lss-configuration-software.lss-config-firmware-update.WebHome]].
9	9
10	10	== Version 367 ==
11	11
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20	20	Released 2019-09-12
21	21
22	22	* New commands:
23		-** New modifiers for position commands [[CH>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA7.CurrentHalt26Hold28CH29]] & [[CL>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA8.CurrentLimp28CL29]]. Allows moving "into" an object so it can be held without going into safe mode (limiting applied current in mA). CH holds position on collision and CL goes limp instead.
	23	+** New modifiers for position commands [[CH>>https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA7.CurrentHalt26Hold28CH29]] & [[CL>>https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA8.CurrentLimp28CL29]]. Allows moving "into" an object so it can be held without going into safe mode (limiting applied current in mA). CH holds position on collision and CL goes limp instead.
24	24	* Fixes:
25		-** [[Mode 255>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H16.IdentificationNumber28ID29]] would sometimes stay active or cause the LSS to respond to other servo IDs
	25	+** [[Mode 255>>https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H16.IdentificationNumber28ID29]] would sometimes stay active or cause the LSS to respond to other servo IDs
26	26
27	27	== Version 362 ==
28	28
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53	53	** IPMS system was added for EM0.
54	54	*** Controlled with IPE and QIPE
55	55
56		-== Version 369 (EXP) ==
	56	+== Version 369 (EXPERIMENTAL) ==
57	57
58	58	Released 2021-06-18
59	59
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63	63	* Fixes
64	64	** Fixed race condition in communication resulting in occasional corrupt responses. Most prevelant but not limited to the QN command.
65	65
66		-== Version 370 (EXP) ==
	66	+== Version 370 ==
67	67
68	68	Released 2021-09-20
69	69
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74	74	*** #0QD#5QD#10QD\r  -  As an example, this single command queries three servos for their respective positions
75	75	*** #0QD0QC0#5QD0QC0  -  This queries two servos for their position and current (milliamps). Note: 0 is required to separate commands QD and QC
76	76	** **A**uto **B**aud **R**ate (ABR) which can be enabled (off by default):
77		-*** #254ABR1  -  Enable baud rate detection on first byte received after power-up.
78		-*** #254ABR2,30  -  Enable baud rate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
	77	+*** #254ABR1  -  Enable baud rate detection on first byte received after power-up.
	78	+*** #254ABR2,30  -  Enable baud rate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
79	79	*** Warning: ABR doesn't work well with LSS Config at the moment
80	80	** Delayed & ordered query response.
81		-*** #254QID120  -  For example, this command can scan the entire bus at once for servos without conflict.
	81	+*** #254QID120  -  For example, this command can scan the entire bus at once for servos without conflict.
82	82	*** Servos use a simple formula to delay their response: 200usec + <id> * 120usec, where <id> is their servo ID 0 to 253.
83	83	*** The first parameter (ex. 120) indicates how many milliseconds to delay between IDs and 120usec is a safe number.
84	84	*** Warning: #254QID with no parameter will still conflict to remain backward compatible with the LSS Config software
85		-** Configure a **SLOT** # for each servo and using (ex.) #254QD can query all servos at once without conflict
	85	+** Configure a **SLOT** # for each servo and using (ex.)
	86	+*** #254QD  -  An example of how all servos can be queried at once without conflict
86	86	*** Ex. Three servos with ID 0, 5, and 10 and want to configure them to be slots 0, 1, and 2 respectively:
87		-*** #254SLOTCOUNT3\r - configures 3 slots on the bus
88		-*** #0SLOT0\r  -  Don't really have to do this one, servos default to slot 0 on power-up
89		-*** #5SLOT1\r  -  Servo ID5 to slot 1
90		-*** #10SLOT2\r  -  Servo ID10 to slot 2
91		-*** #254QD\r  -  Query all servos for position
92		-*** #254QD0QC0\r  -  Query all servos for position and current (milliamps)
	88	+**** #254SLOTCOUNT3\r - configures 3 slots on the bus
	89	+**** #0SLOT0\r  -  Don't really have to do this one, servos default to slot 0 on power-up
	90	+**** #5SLOT1\r  -  Servo ID5 to slot 1
	91	+**** #10SLOT2\r  -  Servo ID10 to slot 2
	92	+**** #254QD\r  -  Query all servos for position
	93	+**** #254QD0QC0\r  -  Query all servos for position and current (milliamps)
93	93	*** Note: You only need to configure slots once on power-up, #254<cmd> will offset all servo replies based on slot# after this is set.
94	94	*** Note: Why not just use servo ID as slot#? Many LSS bus setups are not using sequential IDs so it's more efficient to assign slot# then expect everyone to change their robot's logical servo IDs to be sequential.
95	95	* Fixes