Command Code:

cmdSRV_CFG = 31

The Packet:

0		1		2		3		4
address		3		cmdSRV_CFG		ServoID		SRVCFG

ServoID -	Index of the servo.  Range is 0-3.
SRVCFG -	[ (7) ENA | (6) INV | (5) DSTA | (3:0) SPD ]

Description:

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

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

A 1 in the ENA bit enables the servo driver for the specified servo.  A 0 in the ENA bit forces the servo output to the state stored in the disabled state bit, DSTA.  A 1 in the INV bit inverts all servo positioning calculations.

If the servo driver is disabled for a particular servo output pin, that pin may be used as an additional digital output.  These extra digital outputs are particularly handy for controlling devices such as DC motors, solenoids, and relays via a high-power transistor.  These devices typically require the high-power supply available at the servo connections.

The speed may range from 0-15.  A 0 in the SPD field turns off the speed feature and the servo moves immediately from its previous position to any new position.  A speed from 1 to 15, where 1 is the slowest, makes the servo ramp-up from the previous position and ramp-down to any new position.

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