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docs/serial-interfaces/smartservo-module-serial-interface.md
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| # Smart Servo Module Serial Interface | ||
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| ## Description | ||
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| Allows the state machine or PC to control [Dynamixel X-series](https://www.robotis.us/x-series/) servos using the Bpod Smart Servo Module. | ||
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| Requires a Bpod Smart Servo module with firmware loaded from: | ||
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| - [https://github.com/sanworks/Bpod\_SmartServo\_Firmware](https://github.com/sanworks/Bpod_SmartServo_Firmware) | ||
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| The Smart Servo module must be connected to a module port on the state machine to use the state machine interface. | ||
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| ## State Machine Command Interface | ||
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| The state machine command interface consists of bytes sent from the Bpod state machine to the Smart Servo module to start and stop motion sequences or individual motions. | ||
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| - Byte 255 (reserved): Returns module info to state machine | ||
| - '**[**' (ASCII 91): **Set Max Velocity**. | ||
| - '[' (byte 0) must be followed by six bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - Bytes 3-6: maxVelocity (32-bit float). Units = rev/s | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting max velocity. | ||
| - '**]**' (ASCII 93): **Set Max Acceleration**. | ||
| - '[' (byte 0) must be followed by six bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - Bytes 3-6: maxAcceleration (32-bit float). Units = rev/s^2 | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting max acceleration. | ||
| - '**P**' (ASCII 80): **Set Goal Position**. | ||
| - 'P' (byte 0) must be followed by six bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - Bytes 3-6: position (32-bit float). Units = degrees | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting the goal position. | ||
| - 'P' command may only be used in controlMode 1 or 2 | ||
| - '**G**' (ASCII 93): **Set Goal Position, Velocity and Acceleration, Supports Blocking Moves**. | ||
| - 'G' (byte 0) must be followed by 15 bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - Byte 3: Blocking move (hangs PC command interpreter until movement complete) 1 = blocking, 0 = not | ||
| - Bytes 4-7: goalPosition (32-bit float). Units = degrees | ||
| - Bytes 8-11: maxVelocity (32-bit float). Units = rev/s | ||
| - Bytes 12-15: maxAcceleration (32-bit float). Units = rev/s^2 | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting the goal position. | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that the motor has reached the goal position. | ||
| - 'G' command may only be used in controlMode 1 or 2 | ||
| - '**C**' (ASCII 63): **Set Goal Position with Current-Limiting**. | ||
| - 'C' (byte 0) must be followed by ten bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - Bytes 3-6: position (32-bit float). Units = degrees | ||
| - Bytes 7-10: maxCurrent (32-bit float). Units = mA | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting the goal position. | ||
| - 'C' command may only be used in controlMode 3 | ||
| - '**V**' (ASCII 86): **Set Fixed Velocity**. | ||
| - 'V' (byte 0) must be followed by six bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - Bytes 3-6: fixed velocity (32-bit float). Units = rev/s | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting the velocity. | ||
| - 'V' command may only be used in controlMode 4 | ||
| - '**S**' (ASCII 83): **Step motor shaft by a given distance**. | ||
| - 'S' (byte 0) must be followed by six bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - Bytes 3-6: Distance to step (32-bit float). Units = degrees | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting the step distance. | ||
| - 'S' command may only be used in controlMode 5 | ||
| - '**F**' (ASCII 70): **Set the motor currently in focus**. | ||
| - 'F' (byte 0) must be followed by two bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting the motor in focus. | ||
| - '**>**' (ASCII 62): **Set the position of the motor currently in focus**. | ||
| - '>' (byte 0) must be followed by four bytes: | ||
| - Bytes 1-4: position (32-bit float). Units = degrees | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) confirming that it set the position of the motor in focus. | ||
| - '>' command may only be used in controlMode 1 or 2 | ||
| - '**^**' (ASCII 94): **Step the motor currently in focus by a given distance**. | ||
| - '^' (byte 0) must be followed by four bytes: | ||
| - Bytes 1-4: distanceToStep (32-bit float). Units = degrees | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) confirming that it set the position of the motor in focus. | ||
| - '^' command may only be used in controlMode 5 | ||
| - '**R**' (ASCII 82): **Run a motor program**. | ||
| - 'R' (byte 0) must be followed by one byte: | ||
| - Byte 1: programID (byte). The index of the program to run | ||
| - '**X**' (ASCII 88): **Stop a specific motor**. | ||
| - 'X' (byte 0) must be followed by two bytes: | ||
| - Byte 1: The channel of the targeted motor | ||
| - Byte 2: The address of the targeted motor on its channel | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) confirming that it has stopped the targeted motor. | ||
| - '**!**' (ASCII 33): **Emergency Stop All Motors**. | ||
| - '!' (byte 0) does not need to be followed by additional bytes. | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) confirming that it has executed the emergency stop. | ||
| - Note that after an emergency stop, motors must be manually re-enabled by setting their controlMode | ||
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| ## SerialUSB Command Interface | ||
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| The SerialUSB command interface allows configuration of the SmartServo module from MATLAB or Python before a trial begins. The [SmartServo](../module-documentation/smartservo-module.md) class for Bpod/MATLAB wraps this interface. The first commands are the same as for the state machine interface, and additional commands follow. | ||
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| - Byte 249: **Handshake and reset programs** | ||
| - The Smart Servo module returns a byte (250) to confirm that it has finished clearing the motor programs. | ||
| - '**M**' (ASCII 77): **Set Control Mode**. | ||
| - 'M' (byte 0) must be followed by one byte: | ||
| - Byte 1: The control mode. Valid modes are: | ||
| - 1: Position [-360 : 360 deg] | ||
| - 2: Extended Position [-92160 : 92160 deg] | ||
| - 3: Current-Limited Position [-92160 : 92160 deg] | ||
| - 4: Speed [-Max : Max rev/s] *Max is motor dependent | ||
| - 5: Step [-Inf : Inf deg] | ||
| - If called from the PC via USB, The Smart Servo module returns a byte (1) to confirm that it has finished setting the control mode. | ||
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| ## Examples | ||
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| Run motor program #4 using an [ArCOM](http://www.google.com/url?q=http%3A%2F%2Fsites.google.com%2Fsite%2Fsanworksdocs%2Farcom&sa=D&sntz=1&usg=AOvVaw0q9tKPNJMCdKV2qsdKk90n) serial object in MATLAB: | ||
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| ```matlab | ||
| A = ArCOMObject('COM3', 115200); | ||
| A.write(['R' 3], 'uint8'); % Remember that on the Arduino side, motor programs are 0-indexed! | ||
| clear A | ||
| ``` | ||
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| Run motor program #4 from the Bpod state machine | ||
| ```matlab | ||
| sma = NewStateMachine(); | ||
| sma = AddState(sma, 'Name', 'RunProgram', ... | ||
| 'Timer', 0.1,... | ||
| 'StateChangeConditions', {'Tup', 'exit'},... | ||
| 'OutputActions', {'SmartServo1', ['R' 3]}); | ||
| SendStateMachine(sma); | ||
| RawEvents = RunStateMachine; | ||
| ``` |
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