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The Lynxmotion Smart Servos (LSS) are compact, modular and configurable actuators that provide greater control than standard PWM servos. The servo lineup currently includes three “smart servos” which appear physically the same, sharing the same dimensions and mounting points 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:
Number sign #
Servo ID number as an integer
Action command (two to three letters, no spaces, capital or lower case)
Configuration value in the correct units with no decimal
End with a control / carriage return '<cr>'
Ex: #5PD1443<cr>
Additional Parts:
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#include <SoftwareSerial.h>
#define rxPin 8
#define txPin 9
SoftwareSerial mySerial(rxPin, txPin); // Create the new software serial instance
#define LSS_ID 254 // ID 254 to broadcast to every motor on bus
void setup()
{
servoSerialmySerial.begin(115200); // Important! this is the standard speed for talking to LSS
mySerial.print("#0D1500\r"); // this is used to clear the serial buffer
}
void loop()
{
// Loop through each of the 8 LED color (black = 0, red = 1, ..., white = 7)
for (uint8_t LEDCode = 0; LEDCode <= 7; LEDCode++){
// Set the color (session only) of the LSS
// Options are:
// LSS_LED_Black = 0
// LSS_LED_Red = 1
// LSS_LED_Green = 2
// LSS_LED_Blue = 3
// LSS_LED_Yellow = 4
// LSS_LED_Cyan = 5
// LSS_LED_Magenta = 6
// LSS_LED_White = 7
mySerial.print(String("#") + LSS_ID + String("LED") + LEDCode + "\r"); // set LED
delay(1000);
}
} |
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#include <SoftwareSerial.h>
#define rxPin 8
#define txPin 9
SoftwareSerial mySerial(rxPin, txPin); // Create the new software serial instance
#define LSS_ID 254 // ID 254 to broadcast to every motor on bus
void setup()
{
servoSerialmySerial.begin(115200); // Important! this is the standard speed for talking to LSS
mySerial.print("#0D1500\r"); // this is used to clear the serial buffer
}
void loop() {
// Move the LSS continuously in one direction
mySerial.print(String("#") + LSS_ID + String("WR") + 10 + "\r"); // RPM move
delay(5000);
// Move the LSS continuously in the oposite direction
mySerial.print(String("#") + LSS_ID + String("WR") + -10 + "\r"); // RPM move
delay(5000);
// faster!
mySerial.print(String("#") + LSS_ID + String("WR") + -60 + "\r"); // RPM move
delay(3000);
// go Limp!
mySerial.print(String("#") + LSS_ID + String("L") + "\r"); // Limp
delay(5000);
// move relative from current position in 1/10° (i.e 100 = 10 degrees)
mySerial.print(String("#") + LSS_ID + String("D") + int(60*10) + "\r"); // move 100 degrees
delay(5000);
// Move to specific position in 1/10° (i.e 100 = 10 degrees)
mySerial.print(String("#") + LSS_ID + String("D") + int(360*10) + "\r"); // move 360 degrees
delay(7000);
} |
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For controlling multiple servos, you will first need to give each motor a unique ID. You will need to must attach each motor separately , and modify the code below to change it’s its ID to a value between 0 and 253. Afterwards, the servo will always remember it’s new ID.
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#include <LSS.h>
#include <SoftwareSerial.h>
SoftwareSerial servoSerial(8, 9);
// ID set to default LSS ID = 0
#define LSS_ID_old (254) // ID 254 to broadcast to every motor on bus
#define LSS_ID (0) // the new ID
#define LSS_BAUD (LSS_DefaultBaud)
// Create one LSS object
LSS myLSS = LSS(LSS_ID);
void setup()
{
// set the data rate for the SoftwareSerial port
servoSerial.begin(LSS_BAUD);
// this is used to clear the serial buffer
servoSerial.print("#0D1500\r");
delay(1000);
LSS::initBus(servoSerial, LSS_BAUD);
//change ID
servoSerial.print(String("#") + LSS_ID_old + String("CID") + LSS_ID + "\r");
delay(2000);
}
void loop() {
}
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#include <LSS.h> #include <SoftwareSerial.h> SoftwareSerial servoSerial(8, 9); // ID set to default LSS ID = 0 #define LSS_ID_old (254) // ID 254 to broadcast to every motor on bus #define LSS_BAUD (LSS_DefaultBaud) void setup() { mySerial.begin(115200); // CreateImportant! one LSS object LSS myLSS = LSS(LSS_ID); void setup() { // setthis is the datastandard ratespeed for thetalking SoftwareSerialto portLSS servoSerialmySerial.begin(LSS_BAUDprint("#0D1500\r"); // this is used to clear the serial buffer servoSerial.print("#0D1500\r"); delay(1000); LSS::initBus(servoSerial, LSS_BAUD); // reset servoSerialmySerial.print(String("#") + LSS_ID_old + String("DEFAULT")+"\r"); servoSerialdelay(500); mySerial.print(String("#") + LSS_ID_old + String("CONFIRM")+"\r"); delay(2000); } void loop() { } |
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