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Sébastien Parent-Charette
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‎.gitignore‎

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# Ignore all release packages
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*.zip
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*.rar
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# Ignore all automation
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*.bat

‎LSS/examples/LSS_Configure_Once/LSS_Configure_Once.ino‎

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/*
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* Author: Sebastien Parent-Charette (support@robotshop.com)
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* Version: 1.0.0
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* Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
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*
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* Desscription: Example of all the possible configurations for a LSS.
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*/
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#include <LSS.h>
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// ID set to default LSS ID = 0
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#define LSS_ID (0)
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#define LSS_BAUD (LSS_DefaultBaud)
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// Create one LSS object
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LSS myLSS = LSS(LSS_ID);
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void setup()
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{
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// Initialize the LSS bus
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LSS::initBus(Serial, LSS_BAUD);
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// Uncomment any configurations that you wish to activate
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// You can see above each configuration a link to its description in the Lynxmotion wiki
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// Note: If you change a configuration to the same value that is already set,
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// the LSS will ignore the operation since the value is not changed.
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// *** Basic configurations ***
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H6.OriginOffsetAction28O29
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//myLSS.setOriginOffset(0);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H7.AngularRange28AR29
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//myLSS.setAngularRange(uint16_t value, LSS_SetType setType = LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H12.MaxSpeedinDegrees28SD29
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// Set maximum speed in (1/10°)/s
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//myLSS.setMaxSpeed(600, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H13.MaxSpeedinRPM28SR29
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//myLSS.setMaxSpeedRPM(100, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H14.LEDColor28LED29
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// Options are:
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// LSS_LED_Black = 0
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// LSS_LED_Red = 1
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// LSS_LED_Green = 2
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// LSS_LED_Blue = 3
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// LSS_LED_Yellow = 4
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// LSS_LED_Cyan = 5
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// LSS_LED_Magenta = 6
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// LSS_LED_White = 7
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//myLSS.setColorLED(LSS_LED_Black, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H15.GyreRotationDirection28G29
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// Options are:
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// LSS_GyreClockwise = 1
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// LSS_GyreCounterClockwise = -1
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//myLSS.setGyre(LSS_ConfigGyre value, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#H19.FirstA0Position28Degrees29
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//myLSS.setFirstPosition(0);
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//myLSS.clearFirstPosition();
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// *** Advaned configurations ***
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA1.AngularStiffness28AS29
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//myLSS.setAngularStiffness(0, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA2.AngularHoldingStiffness28AH29
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//myLSS.setAngularHoldingStiffness(4, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA3:AngularAcceleration28AA29
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//myLSS.setAngularAcceleration(100, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA4:AngularDeceleration28AD29
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//myLSS.setAngularDeceleration(100, LSS_SetConfig);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA5:MotionControl28EM29
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//myLSS.setMotionControlEnabled(bool value);
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//> https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol/#HA6.ConfigureLEDBlinking28CLB29
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// Options are an arithmetic addition of the following values:
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// Limp 1
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// Holding 2
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// Accelerating 4
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// Decelerating 8
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// Free 16
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// Travelling 32
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// Therefore, 0 = no blinking and 63 = always blinking
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//myLSS.setBlinkingLED(0);
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// Reset motor to complete change of configurations
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myLSS.reset();
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// Wait for reboot
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delay(2000);
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}
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void loop()
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{
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// Loop through each of the 8 LED color (black = 0, red = 1, ..., white = 7)
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for(uint8_t i = LSS_LED_Black; i <= LSS_LED_White; i++)
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{
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// Set the color (session) of the LSS
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myLSS.setColorLED((LSS_LED_Color)i);
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delay(1000);
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}
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}

‎LSS/examples/LSS_Knob_Mimic/LSS_Knob_Mimic.ino‎

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/*
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* Author: Sebastien Parent-Charette (support@robotshop.com)
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* Version: 1.0.0
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* Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
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*
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* Desscription: Moves one LSS using the position of a second LSS.
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*/
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#include <LSS.h>
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#define LSS_BAUD (LSS_DefaultBaud)
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// Create two LSS object; one for output (ID=0), one for input (ID=1)
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LSS myLSS_Output = LSS(0);
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LSS myLSS_Input = LSS(1);
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void setup()
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{
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// Initialize the LSS bus
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LSS::initBus(Serial, LSS_BAUD);
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// Initialize LSS output to position 0.0
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myLSS_Output.move(0);
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// Wait for it to get there
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delay(2000);
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// Lower output servo stiffness
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myLSS_Output.setAngularStiffness(4);
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myLSS_Output.setMaxSpeedRPM(15);
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// Make input servo limp (no active resistance)
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myLSS_Input.limp();
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}
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// Reproduces position of myLSS_Input on myLSS_Output
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unsigned long startTime = millis();
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void loop()
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{
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// Wait ~20 ms before sending another command (update at most 50 times per second)
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if((millis() - startTime) > 20)
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{
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int16_t pos = (int16_t)myLSS_Input.getPosition();
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Serial.print("Input @ "); Serial.println(pos);
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// Send LSS to half a turn counter-clockwise from zero (assumes gyre = 1)
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myLSS_Output.move(pos);
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Serial.println("\r\n");
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}
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}

‎LSS/examples/LSS_Query/LSS_Query.ino‎

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/*
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* Author: Sebastien Parent-Charette (support@robotshop.com)
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* Version: 1.0.0
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* Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
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*
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* Desscription: Basic example of reading values from the LSS and placing
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* them on the terminal.
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*/
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#include <LSS.h>
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// ID set to default LSS ID = 0
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#define LSS_ID (0)
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#define LSS_BAUD (LSS_DefaultBaud)
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// Create one LSS object
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LSS myLSS = LSS(LSS_ID);
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void setup()
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{
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// Initialize the LSS bus
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LSS::initBus(Serial, LSS_BAUD);
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}
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void loop()
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{
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// Header 1
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Serial.println("\r\nQuerying servo...");
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// Get LSS position, speed, current, voltage, temperature
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int32_t pos = myLSS.getPosition();
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uint8_t rpm = myLSS.getSpeedRPM();
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uint16_t current = myLSS.getCurrent();
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uint16_t voltage = myLSS.getVoltage();
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uint16_t temp = myLSS.getTemperature();
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// Header 2
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Serial.println("\r\n\r\n---- LSS telemetry ----");
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// Display LSS position, speed, current, voltage, temperature
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Serial.print("Position (1/10 deg) = "); Serial.println(pos);
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Serial.print("Speed (rpm) = "); Serial.println(rpm);
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Serial.print("Curent (mA) = "); Serial.println(current);
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Serial.print("Voltage (mV) = "); Serial.println(voltage);
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Serial.print("Temperature (1/10 C) = "); Serial.println(temp);
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// Read LSS telemetry once per second
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delay(1000);
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}

‎LSS/examples/LSS_Sweep/LSS_Sweep.ino‎

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/*
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* Author: Sebastien Parent-Charette (support@robotshop.com)
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* Version: 1.0.0
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* Licence: LGPL-3.0 (GNU Lesser General Public License version 3)
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*
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* Desscription: Basic example of the LSS moving back and forth.
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*/
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#include <LSS.h>
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// ID set to default LSS ID = 0
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#define LSS_ID (0)
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#define LSS_BAUD (LSS_DefaultBaud)
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// Create one LSS object
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LSS myLSS = LSS(LSS_ID);
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void setup()
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{
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// Initialize the LSS bus
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LSS::initBus(Serial, LSS_BAUD);
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// Initialize LSS to position 0.0 °
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myLSS.move(0);
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// Wait for it to get there
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delay(2000);
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}
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// Loops between -180.0° and 180°, taking 1 second pause between each half-circle move.
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void loop()
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{
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// Send LSS to half a turn counter-clockwise from zero (assumes gyre = 1)
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myLSS.move(-1800);
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// Wait for one second
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delay(2000);
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// Send LSS to half a turn clockwise from zero (assumes gyre = 1)
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myLSS.move(1800);
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// Wait for one second
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delay(2000);
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}

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