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The Lynxmotion Smart Servos (LSS) are compact, modular and configurable actuators designed to be an evolution of the standard RC servo for use in multi-degree-of-freedom robotics. The servo lineup currently includes three “smart servos” which appear physically the same, sharing the same dimensions, mounting points and output spline, but differing in maximum torque and speed. 

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The lynx motion has a simple serial protocol for controlling the motor, that is human-readable:

1. Number sign #

2. Servo ID number as an integer

3. Action command (two to three letters, no spaces, capital or lower case)

4. Configuration value in the correct units with no decimal

5. End with a control / carriage return '<cr>'

Ex: #5PD1443<cr>

Additional Parts:

• LSS Adapter Board

• Power Hub

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#include <LSS.h>
#include <SoftwareSerial.h>
SoftwareSerial servoSerial(8, 9);

#define LSS_ID1    (1) 
#define LSS_ID2   (0)
#define LSS_BAUD  (LSS_DefaultBaud)

// Create two LSS objects
LSS myLSS1 = LSS(LSS_ID1);
LSS myLSS2 = LSS(LSS_ID2);
int direction = -1;

void setup() {
  servoSerial.begin(LSS_BAUD);
  // Initialize the LSS bus
  LSS::initBus(servoSerial, LSS_BAUD);
  Serial.begin(LSS_BAUD);
}

void loop() {
  // motor direction 
  myLSS1.wheelRPM(60*0-direction*60);
  myLSS2.wheelRPM(60*direction);
  delay(4000);
  // revers dierction 
  direction = -direction;
}

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