There’s a lot of interesting functions in the library that I’d like to try, but I can’t find any further info other than some sparse commenting. Does anyone know where I can find more information on the LSS library functions?
What is the T parameter in the LSS::moveT() function? (there’s a “T” keyword in LSS.h related to “ActionParameterTime”)
What is the CH parameter in the LSS::moveCH() function? (possibly related to “ActionParameterCurrentHold”? Maybe this moves the servo towards a desired position as far as a set motor current will allow?)
In the advanced config section, there’s a function called setAngularAcceleration(int16_t value, LSS_SetType setType). Is that first argument supposed to be an integer value, in units of rad/s^2?
There’s a lot of other functions in this library that would be so useful if I could figure out exactly what kind of arguments they expect. If anyone could point me to further documentation that would be very appreciated.
Just go ahead and try them!
More seriously, the LSS have built-in protections for over voltage, over temperature and over current so just go wild. Worse case your LSS ends up in safe mode and you need to either power cycle it or send a #[id]RESET\r command to it.
Everyone of those functions in the library are just a specific implementation of a generic #[id][cmd][value][param][paramValue]\r command format, where [value] and [param][paramValue] are optional or not needed (depends on the command used).
The T parameter is an amount of ms over which the move will happen. In the case of moveT, the function is declared as:
bool LSS::moveT(int16_t value, int16_t t_value)
This indicates you can need two signed values, one for the desired position (the “D” part in 1/10°) and the other signed value for the desired duration (the “T” part, in ms).
So, a typical command such as #1D900T2500\r would become something like myLSS.moveT(900, 2500);.
If you follow @geraldinebc15 link here, you’ll learn that the moveCH() allows you to provide a position (again in 1/10°) and a current limit (in mA). When sent, the LSS will either complete the move as requested or if it ever exceeds the current limit set, stop the motion and hold there, slightly pushing against the object. This is very helpful for a gripper, for example, where you want the gripper to close and hold an object but a normal move() (“D” command) would cause the gripper to go into safe mode if it moved into an object (stalled!).
Again, @geraldinebc15 provided some good links. I suggest you read the protocol page as a whole. It is full of useful information about the LSS and how to use them. Of course, feel free to ask any other questions you may have!