Command Code:

cmdSRV_REL = 34

The Packet:

0		1		2		3		4		5
address		4		cmdSRV_REL		ServoID		RELOFF		RELDIR

ServoID -	Index of the servo.  Range is 0-3.
RELOFF -	Absolute offset for the servo.  Range is 0 to 255.
RELDIR -	Direction to move the servo. 0 is negative. 1 is positive.

Description:

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

This command adds or subtracts an offset to the current 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.  A speed parameter of 0 makes the servo move immediately from its previous position to its new position.