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• Page properties (2 modified, 0 added, 0 removed)

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Author

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

Content

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53	53	** IPMS system was added for EM0.
54	54	*** Controlled with IPE and QIPE
55	55
56		-== Version 369 (EXPERIMENTAL) ==
	56	+== Version 369 (EXP) ==
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 (EXPERIMENTAL) ==
	66	+== Version 370 (EXP) ==
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.)
86		-*** #254QD  -  An example of how all servos can be queried at once without conflict
	85	+** Configure a **SLOT** # for each servo and using (ex.) #254QD can query all servos at once without conflict
87	87	*** Ex. Three servos with ID 0, 5, and 10 and want to configure them to be slots 0, 1, and 2 respectively:
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)
	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)
94	94	*** 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.
95	95	*** 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.
96	96	* Fixes