Page Comparison

...

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 roboticsthat 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 and output spline, but differing in maximum torque and speed.

Power: The servos need 6-12V, and 12v for maximum speed and torque.

Getting Started:

Action Commands:

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:

Hookup with Power-hub

...

The power hub is the most universal way of connecting to the motors. You will need an external power source with a 5mm jack for 12v. Care should be taken when connecting the VIN pin, as this will be 12 volts!
...

Example Code for Arduino

While the Arduino library is Ther is a custom LSS library for Arduino, but it's not necessarily needed to control the smart servos, some of these examples make use of itand it is not compatible with the IAD shields for both MKR and Arduino Uno.

This example cycles through the LED colours of the smart servos.

Code Block

language	c#

#include <LSS<SoftwareSerial.h>
#include <SoftwareSerial.h>


#define rxPin 8
#define txPin 9
SoftwareSerial servoSerialmySerial(8rxPin, 9txPin);  // giveCreate the idnew software matchingserial yourinstance
device
#define LSS_ID (254) // ID 254 to broadcast to every motor on bus
// Create
one LSS object
LSS myLSS = LSS(LSS_ID);

void setup()
{
  servoSerialmySerial.begin(LSS_DefaultBaud115200); //  LSS::initBus(servoSerial, LSS_DefaultBaud);
}

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 iLEDCode = LSS_LED_Black0; iLEDCode <= LSS_LED_White7; iLEDCode++){
	// Set the color (session only) of the LSS
    //> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H14.LEDColor28LED29
    // 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
	  myLSSmySerial.setColorLEDprint(String("#") + LSS_LED_Color) i);
ID + String("LED") + LEDCode + "\r"); // set LED
	 delay(1000);
	}
}

This example goes through the basic setup and movement

Code Block

language	cpp

#include <LSS<SoftwareSerial.h>
#include <SoftwareSerial.h>

#define rxPin 8
#define txPin 9
SoftwareSerial servoSerialmySerial(8rxPin, 9txPin);
 #define LSS_ID		(254) // IDCreate 254the tonew broadcastsoftware to every motor on busserial instance

#define LSS_BAUD	(LSS_DefaultBaud)
ID 254 // CreateID 254 oneto LSSbroadcast objectto LSSevery myLSSmotor = LSS(LSS_ID);on bus

void setup()
{
  servoSerialmySerial.begin(LSS_BAUD115200);   // InitializeImportant! the LSS bus
  LSS::initBus(servoSerial, LSS_BAUD);
  Serial.begin(LSS_BAUD);
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
  myLSSmySerial.wheelRPM(10);print(String("#") + LSS_ID + String("WR") + 10  + "\r"); // RPM move
  delay(5000);
  // Move the LSS continuously in the oposite direction
  myLSSmySerial.wheelRPM(-10);
  delay(5000);
 print(String("#") + LSS_ID + String("WR") + -10  + "\r"); // faster!RPM move
 myLSS.wheelRPM(-60);
  delay(30005000);
  // go Limpfaster!
  myLSSmySerial.limp();
  delay(5000);
  // move relative from current position in 1/10° (i.e 100 = 10 degrees)
  myLSS.moveRelative(100);
  delay(5000);
  // Move to specificprint(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)
  myLSSmySerial.move(400);
  delay(7000);
}

Multiple Servos

For controlling multiple servos, you will first need to give each motor a unique ID.

Code Block

language	c#

#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);
  // Uncomment next two line for factory reset  
  //servoSerial.print(String("#") + LSS_ID_old + String("DEFAULT")+"\r");
  //servoSerialprint(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);
}

Multiple Servos

For controlling multiple servos, you will first need to give each motor a unique ID. You must attach each motor separately and modify the code below to change its ID to a value between 0 and 253. Afterwards, the servo will always remember it’s new ID.

Code Block

language	c#

#include <SoftwareSerial.h>

SoftwareSerial mySerial(8, 9);

// ID set to default LSS ID = 0
#define LSS_ID_old 354 // ID 254 to broadcast to every motor on bus
#define LSS_ID  0 // the new ID 


// Create one LSS object
LSS myLSS = LSS(LSS_ID);

void setup()
{
  mySerial.begin(115200); // Important! this is the standard speed for talking to LSS
  mySerial.print("#0D1500\r");  // this is used to clear the serial buffer
  delay(1000);
  //change ID 
  mySerial.print(String("#") + LSS_ID_old + String("CID") + LSS_ID + "\r");
  delay(2000);
}
void loop() {
}

Now you can control two motors at the same time:

Code Block

language	cpp

#include <SoftwareSerial.h>

SoftwareSerial mySerial(8, 9);

#define LSS_ID1  1 
#define LSS_ID2  0


int direction = -1;

void setup() {
  mySerial.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() {
  // motor direction 
  mySerial.print(String("#") + LSS_ID + String("WR") +-direction*60) + "\r"); // RPM move
  mySerial.print(String("#") + LSS_ID + String("WR") + 60*direction  + "\r"); // RPM move
  delay(5000);
  // reverse direction 
  direction = -direction;
}

Troubleshooting

A reset may sometimes be needed

Code Block

language	c#

#include <SoftwareSerial.h>

SoftwareSerial servoSerial(8, 9);

// ID set to default LSS ID = 0
#define LSS_ID 254 // ID 254 to broadcast to every motor on bus

void setup()
{
mySerial.begin(115200); // Important! this is the standard speed for talking to LSS
  mySerial.print("#0D1500\r");  // this is used to clear the serial buffer
  delay(1000);
  //  reset
  mySerial.print(String("#") + LSS_ID_old + String("CONFIRMDEFAULT")+"\r");
  //change ID 
  servoSerialdelay(500);
  mySerial.print(String("#") + LSS_ID_old + String("CIDCONFIRM") + LSS_ID + "\r");
  delay(2000);
}
void loop() {
}

...

TIP: Use the millis() function to find the elapsed time.

Possible Solution: This is one solution , but it could use some improvement: It needs a denounce and a pause without delay function to avoid blocking your code. This solution uses an older arduino library that might need to be updated.

Code Block

language	c#

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

// ID set to default LSS ID = 0
#define LSS_ID    (0)
#define LSS_BAUD  (LSS_DefaultBaud)

// Create one LSS object
LSS myLSS = LSS(LSS_ID);
int ServoPosition = 0;
bool counting = true;
int resetTime = 0;
int lastMovement;

void setup() {
  servoSerial.begin(LSS_BAUD);
  // Initialize the LSS bus
  LSS::initBus(servoSerial, LSS_BAUD);
  Serial.begin(LSS_BAUD);
  myLSS.move(0);
  // allow time to move to 0 position
  delay(3000);
  myLSS.setMaxSpeed(600, LSS_SetConfig);
  //buttons 
  pinMode(11, INPUT);
  pinMode(10, INPUT);
}

void loop() {
 delay(1000);
  if (counting) {
    int seconds = (millis() - resetTime)/1000; // see below for an explanation of resetTime 
    ServoPosition = seconds * 60;  // if we divide 360 by 60 we get 6.0 degrees
    myLSS.move(ServoPosition); // move servo to position
    Serial.println(seconds);
    lastMovement = millis();
  } else {
    resetTime = millis() - lastMovement; // this helps us return to the last position of the clock movement
  }
  // buttons 
  if (digitalRead(10) == HIGH) {
      // stop or start
     counting = !counting;
     Serial.println("Start/Stop");
     // this could be improved on with a debounce!
  }
   if (digitalRead(11) == HIGH) {
    // reset
      Serial.println("reset");
      myLSS.move(0);
      delay(2000);
      resetTime = millis();  // we use this to restart our counter from 0 
  }
}

...

Version	Old Version 11	New Version Current
Changes made by	Luke Franzke	Johannes Lucian Reck
Saved on	Sep 16, 2021	Oct 18, 2023

Versions Compared

Key

Hookup with Power-hub

The power hub is the most universal way of connecting to the motors. You will need an external power source with a 5mm jack for 12v. Care should be taken when connecting the VIN pin, as this will be 12 volts!
...

Example Code for Arduino

Multiple Servos

Multiple Servos

Troubleshooting

Page Comparison

Versions Compared

Key

Hookup with Power-hub

The power hub is the most universal way of connecting to the motors. You will need an external power source with a 5mm jack for 12v. Care should be taken when connecting the VIN pin, as this will be 12 volts!...

Example Code for Arduino

Multiple Servos

Multiple Servos

Troubleshooting

The power hub is the most universal way of connecting to the motors. You will need an external power source with a 5mm jack for 12v. Care should be taken when connecting the VIN pin, as this will be 12 volts!
...