Servo-CP.txt

Servo CoProcessor - SCP - PIC-12C509A
-----------------------
Controlled by BOS-4 program - ZHXBOS-4.pbp

1 Vcc 5v
2 Flow  - high=ready
3 TR    - Transmitt/Receive
4 x
5 2     - servo pulse, ~55Hz 
6 1     - servo pulse, ~55Hz
7 0     - servo pulse, ~55Hz
8 Gnd
                  ___ 
         5v Vcc -|1  |- Gnd
           Flow -|   |- 0 servo	
             TR -|   |- 1 servo	
              x -|___|- 2 servo	


'Servo co-processor info:
'9600 baud, 8 bits, no parity, inverted
'Send two bytes, <command><position>
'Command byte format:  XXXXYYZZ
'  ZZ is servo number -  0,1,2
'  XXXX is speed 0 to 15 - extra increments per frame (0=slow,15=fast)
'  YY is command :
'    00 - set servo end position
'    01 - report servo position
'      XXXX ignored, ZZ =servo number
'      response =0 to 255 =current servo position.
'    10 - report all servos
'      XXXX  ignored, ZZ must be %00
'      response = %STUVWXYZ
'        where S,T,U,V,W,X,Y and Z may be 0 or 1
'          STUV
'        S - (servo 4) always 1 on 3 servo chip
'        T - servo 2
'        U - servo 1
'        V - servo 0
'            0 => relaxed
'            1 => being pulsed
'          WXYZ
'        W - (servo 4) always 1 on 3 servo chip
'        X - servo 2
'        Y - servo 1
'        Z - servo 0
'            0 => not reached end point
'            1 => has reached end point
'              (ie a quick way to read all servos)
'    11 - relax servo, ie stop pulsing it until 00 sent
'Position byte is from 0 to 255
'[pulse as measured by BS2, 0=>1018us, 255=>2042us	ie 4us resolution]
'[frame rate 19.5ms - scope] 
'[signals - servo1,servo2,servo3,frame delay - scope]
'[Flow is low during servo pulses, high during frame delay - scope] 
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