| cmdSRV_LMT | Index |
Command Code:
The Packet:
| 0 | 1 | 2 | 3 | 4 | 5 | |||||
| address | 4 | cmdSRV_LMT | ServoID | POS0 | POSRES |
| ServoID - | Index of the servo. Range is 0-3. |
| POS0 - | Position 0 for the servo. Range is 0-70. |
| POSRES - | Positioning resolution for the servo. Range is 1-70. |
Description:
This command is only available on BrainStem modules with the servo control feature.
This command sets the motion 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.
The start position for a servo is set in increments of approximately 2.5 degrees with the POS0 parameter. The positioning resolution is set in increments of approximately 0.01 degrees with the POSRES parameter.
A POS0 of 0 and a POSRES of 70 gives a complete 180 degree range of motion for a typical servo. A POS0 of 18 and a POSRES of 35 limits the range of motion to the middle 90 degrees for a typical servo.
If the command packet does not have a POS0 and POSRES byte, the Stem will send a cmdSRV_LMT reply packet with the servo ID and current POS0 and POSRES byte.