Command Code:

cmdSRV_ABS = 33

The Packet:

0		1		2		3		4
address		3		cmdSRV_ABS		ServoID		ABSPOS

ServoID -	Index of the servo.  Range is 0-3.
ABSPOS -	New position for the servo.  Range is 0-255.

Description:

This command is only available on BrainStem modules with the servo control feature.

This command sets or gets the absolute position for an individual servo.  There is no reply packet.  A servo ID that is out of range will generate an error message.

This command updates the position even when the servo is disabled.  The servo will immediately seek the current position when enabled again.  When the speed parameter ranges from 1-15, the servo ramps-up from the previous position and ramps-down to the new position.  Speed 1 is the slowest.  Speed 15 is the fastest.  A speed parameter of 0 makes the servo move immediately from its previous position to its new position.

If the command packet does not have a position byte, the Stem will send a cmdSRV_ABS reply packet with the servo ID and the current position byte.