Command Code:

cmdSRV_RFLX = 35

The Packet:

0		1		2		3		4		5
address		4		cmdSRV_RFLX		servo ID		SRFLXCFG		INPUT

servo ID -	The zero-based servo ID.
SRFLXCFG -	[ (7) ENA | (6:0) MSG ]
INPUT -	Raw input parameter byte.  Range is 0-255.

Description:

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

This command determines the message and parameter operands for a cmdRAW_INPUT command that will be placed onto the command queue after the specified servo completes its next motion.  A servo must have a non-zero speed for this command to apply.  See cmdSRV_CFG for more information about setting the servo speed.

The SRFLXCFG byte and INPUT byte are stored in RAM.  When the servo motion is complete, the raw input is only posted if the ENA bit is 1.  Once posted, the ENA bit will be reset to 0.  This makes it a "one-shot" command.  The command must be re-issued for each move that must generate a raw input.  There is no reply packet.  A servo ID or parameter that is out of range will generate an error message.

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