Lynxmotion Smart Servo


I’m working with HS1 Smart Servo. Does the motor come with an encoder whose data can be accessed? I need the encoder data for localization algorithms. Please advice as to how to access them and where I can find the specs.

Thank you

Regarding the Lynxmotion HS1 servo (as well as the ST1 and HT1):

Unfortunately beyond the QD command (Query Position in Degrees), the raw encoder data is not directly accessible.

However, this command only uses a few small equations to convert the raw encoder data to an output with a ~0.1 degree accuracy, and takes into consideration the multi-turn capability of the output shaft. You can reduce this multi-turn value to 0-360 degrees using a modulus function.

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Thank you for the info