Lynx Smart Motion Servo

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.

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:

Example Code for Arduino

While the Arduino library is not necessarily needed to control the smart servos, some of these examples make use of it.

This example is for changing the ID of the servo motor.

#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 1


void setup()
{
  // set the data rate for the SoftwareSerial port, 115200 is default for lynxmotion
  servoSerial.begin(115200);
  // this is used to clear the serial buffer
  servoSerial.print("#0D1500\r");
  delay(1000);
  // change ID 
  servoSerial.print(String("#") + LSS_ID_old + String("CID") + LSS_ID + "\r");
  // Uncomment next line for factory reset  
  //servoSerial.print(String("#") + LSS_ID_old + String("DEFAULT")+"\r");
  delay(2000);
  // a reset is required for the changes to take effect
}

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

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

SoftwareSerial servoSerial(8, 9);
// give the id matching your device
#define LSS_ID   (0)
// Create one LSS object
LSS myLSS = LSS(LSS_ID);

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

void loop()
{
	// Loop through each of the 8 LED color (black = 0, red = 1, ..., white = 7)
	for (uint8_t i = LSS_LED_Black; i <= LSS_LED_White; i++){
	// 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
	  myLSS.setColorLED((LSS_LED_Color) i);
	 delay(1000);
	}
}

This example goes through the basic setup and movement

#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);

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

void loop() {
  // Move the LSS continuously in one direction
  myLSS.wheelRPM(10);
  delay(5000);
  // Move the LSS continuously in the oposite direction
  myLSS.wheelRPM(-10);
  delay(5000);
  // faster!
  myLSS.wheelRPM(-60);
  delay(3000);
  // go Limp!
  myLSS.limp();
  delay(5000);
  // move relative from current position in 1/10° (i.e 100 = 10 degrees)
  myLSS.moveRelative(100);
  delay(5000);
  // Move to specific position in 1/10° (i.e 100 = 10 degrees)
  myLSS.move(400);
  delay(7000);
}