-Added SmartServoModule class doc

docs/module-documentation/smart-servo-module.md

@@ -0,0 +1,113 @@
+# SmartServoModule()
+
+## Description
+
+SmartServoModule interfaces MATLAB with the [Bpod Smart Servo Module](../assembly/smart-servo-module-assembly.md). Each smart servo module interfaces up to 9 additional Dynamixel [X-series](https://www.robotis.us/x-series/) servos with the Bpod State Machine.
+
+A `SmartServoModule` object is initialized with the following syntax:
+```matlab
+S = SmartServoModule('COM3');
+```
+Where COM3 is the smart servo module's serial port.
+
+The smart servo module is controlled in 2 ways:
+
+- Setting the `SmartServoModule` object's fields
+- Calling the `SmartServoModule` object's functions (its methods)
+
+## Object Fields
+- **Port**
+    - ArCOM USB Serial port object
+- **motor**
+    - An array of SmartServoInterface motor control objects, used to send commands from MATLAB to each motor individually.
+        - SmartServoInterface and its usage is documented below.
+- **dioTargetProgram**
+    - A 1x3 integer array specifying the target program index for each DIO channel.
+        - This links each DIO channel to a motor program, previously loaded to the device with loadProgram()
+        - The function of the DIO channel is set with the following properties:
+- **dioFallingEdgeOp**
+    - A 1x3 integer array specifying the function to trigger on detecting a falling logic edge for each DIO channel.
+        - 0 = No Operation
+        - 1 = Start Target Program      
+        - 2 = Stop Target Program
+        - 3 = Emergency Stop-All  
+- **dioRisingEdgeOp**
+    - A 1x3 integer array specifying the function to trigger on detecting a rising logic edge for each DIO channel.
+        - 0 = No Operation
+        - 1 = Start Target Program      
+        - 2 = Stop Target Program
+        - 3 = Emergency Stop-All  
+- **dioDebounce**
+    - Debounce interval for DIO channels
+        - Adjust if required for mechanical pushbuttons
+
+## Object functions
+- **detectMotors()**
+    - Detects any motors that are connected to the smart servo module
+    - This is run automatically when the SmartServoModule object is first created, but must be run manually if motors are subsequently added or removed
+
+- **setMotorAddress(channel, currentAddress, newAddress)**
+    - Sets the address of a motor on a given motor channel
+    - channel = the target channel on the device (1-3)
+    - currentAddress = the address of the target motor on the target channel
+    - newAddress = the new address of the target motor
+    - This function is used for setting up daisy chained configurations
+    - The Smart Servo Module supports daisy chains up to 3 motors deep
+
+- **stop(channel, address)**
+    - Stops the motor at the target channel and address
+    - channel = the target channel on the device (1-3)
+    - address = the target address on the target channel (1-3)
+
+- **STOP()**
+    - Pseudo Emergency Stop. This function stops all motors and disables them by setting torque to 0.
+    - While similar to a true emergency stop function, timing of motor stop is not guaranteed. Usage is at your own risk.
+    - After calling STOP(), torque must be re-enabled manually by setting motor(chan,address).controlMode for each motor.
+
+- **newProgram()**
+    - Returns 'program', a blank motor program (struct)
+    - Motor programs consist of timed sequences of commands to send to each motor
+    - Steps are added to the program with addMovement()
+    - The program can loop for a specified amount of time set by setLoopDuration()
+    - Programs are sent to the device with loadProgram()
+    - Programs can be triggered from MATLAB with runProgram(), or from the state machine using the serial interface.
+    - program.moveType sets the type of move contained in the program. This applies to all program steps. Options are:
+      - velocity (a maximum velocity is set with each move).
+      - current_limit (a maximum motor current is set with each move). Limiting current constrains motor torque.
+
+- **addMovement(program, channel, address, goalPosition, movementLimit, stepTime)**
+    - Adds a movement to a motor program created with newProgram()
+    - program = a motor program initially created by calling newProgram()
+    - channel = the target channel on the device (1-3)
+    - address = the target address on the target channel (1-3)
+    - goalPosition = the goal position of the movement (degrees)
+    - movementLimit = a limit used internally by the servo to calculate the movement trajectory
+      - If the program moveType is 'velocity', movementLimit sets the maximum velocity in rev/second
+      - If the program moveType is 'current_limit', movementLimit sets the current limit in mA (milliamps).
+    - stepTime = the time this movement will begin, following motor program onset (seconds)
+    - up to 255 steps can be added to a motor program with addMovement()
+
+- **setLoopDuration(program, duration)**
+    - Sets the duration for which the motor program will loop
+    - duration = the duration for which the program will loop, following motor program onset (seconds)
+
+- **loadProgram(programIndex, program)**
+    - Loads a program to the Smart Servo Module's internal memory
+    - programIndex = the index of the program (1-100)
+    - program = a motor program initially created by calling newProgram(), with steps added by calling addMovement()
+
+- **runProgram(programIndex)**
+    - Runs a motor program previously loaded with loadProgram()
+    - programIndex = the index of the program to run (1-100)
+
+## The SmartServoInterface Object
+
+### Cleanup
+- Clear the `SmartServoModule` object with clear:
+```matlab
+S = SmartServoModule('COM3');
+% ... Use the smart servo module
+clear S
+```
+- Clearing the object releases the serial port, so other applications can access it.
+- If a `SmartServoModule` object is created inside a MATLAB function, the object is cleared automatically when the function returns.

mkdocs.yml

@@ -77,6 +77,7 @@ nav:
         - module-documentation/hifi-module.md
         - module-documentation/rotary-encoder-module.md
         - module-documentation/valve-driver-module.md
+        - module-documentation/smart-servo-module.md
         - module-documentation/dds-module.md
         - module-documentation/I2C-messenger-module.md
       - Example Code: