Again not sure how interesting this one is. It is a simple capture of communications from Teensy4.1 to a set of Lynxmotion Smart Servos (LSS). In this case working on translating the code from other servos (Dynamixels) to their smart servos. More information on their servos are up at:
https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/
Their servos run using a Full duplex Serial (+5v signals). My Teensy board has TTL level shifters to convert to 5v…
The channel 1 is the TX pin and commands start with # and end with \r
If the command is a query, like is shown in screen show asking Servo 8 for it’s Angular Range:
#8QAR0\r
and In this case Servo 8 responds on Line 0 with the: *8QAR1800\r
which says range is 180 degrees in 10ths of a degree.
I already mentioned in another posting would be nice if terminal mode would handle just have \r as line ending. Not sure if a HAL would work with combining data from both Serial lines.
Edit: Oops forgot to upload the SAL file
LSS_Servos.sal (21.0 KB)