Control and IO Commands

Code	Alias	Input Parameters	Reply
17	cmdVAL_GET	ParamID	cmdVAL, ParamID, 1-2 value bytes
18	cmdVAL_SET	ParamID, VALUE	none
19	cmdVAL_SAV	none	none
20	cmdSRV_SAV	none	none
21	cmdVM_RUN	(format varies)	cmdVM_RUN, ProcID
22	cmdVM_KILL	ProcID	cmdMSG, VM exit code (kill), ProcID, VMERR
23	cmdDEBUG	1-7 data bytes	cmdDEBUG, 1-7 data bytes
24	cmdRESET	none	none
25	cmdA2D_RD	[(7) HOST \| (6) RFLX \| (5:0) A2DID {0-4}]	*cmdDEV_VAL, {0-4}, A2DH, A2DL
26	cmdDIG_CFG	DigID (0-4), [(4) TMODE \| (3) TSTATE \| (2) TRG \| (1) ENA \| (0) IODIR]	**cmdDIG_CFG, DigID, DIGCFG
27	cmdDIG_IO	[(7) HOST \| (6) RFLX \| (5:0) DigID {0-4}], DOUT (0,1)	*cmdDEV_VAL, {5-9}, 1 or 0
28	cmdDIG_RST	DigID (0-4)	none
29	cmdPTIME_RD	[(7) HOST \| (6) RFLX \| (5:0) PTIMEID {1-4}]	*cmdDEV_VAL, {11-14}, timeH, timeL
30	cmdIR02_RD	[(7) HOST \| (6) RFLX \| (5:0) IR02ID {0}]	*cmdDEV_VAL, {10}, range
31	cmdSRV_CFG	ServoID (0-3), [(7) ENA \| (6) INV \| (5) DSTA \| (3:0) SPD]	**cmdSRV_CFG, ServoID, SRVCFG
32	cmdSRV_LMT	ServoID (0-3), POS0 (0-70), POSRES (1-70)	**cmdSRV_LMT, ServoID, POS0, POSRES
33	cmdSRV_ABS	ServoID (0-3), ABSPOS	**cmdSRV_LMT, ServoID, ABSPOS
34	cmdSRV_REL	ServoID (0-3), RELOFF, RELDIR (0,1)	none
35	cmdSRV_RFLX	ServoID (0-3), [(7) ENA \| (6:0) MSG {0-127}], INPUT	**cmdSRV_RFLX, ServoID, MSG, INPUT
36	cmdSRV_STOP	ServoID (0-3)	none
37	cmdIIC_RD	[(7) HOST \| (6) RFLX \| (5:0) IICID {0}], SADDR (odd), NBYTES (1-6)	*cmdDEV_VAL, {52}, 1-6 data bytes
59	cmdSER_RELAY	1-7 data bytes	none
69	!cmdPAD_SETPTR	SPX	none

The following commands are specific to the Motor Control module.

Code	Alias	Input Parameters	Reply
61	cmdMO_PEEK	moID (0-1)	cmdMO_PEEK, moID, inputH, inputL, setH, setL, pwmH, pwmL
62	cmdMO_SET	moID (0-1), setH, setL	**cmdMO_SET, moID, setH, setL
63	cmdMO_CFG	moID (0-1), paramID (0-7), paramH, paramL	**cmdMO_CFG, moID, paramID, paramH, paramL
64	cmdMO_SAV	none	none
66	cmdMO_ENC32	moID (0-1), ENC3, ENC2, ENC1, ENC0	**cmdMO_ENC32, moID (0-1), ENC3, ENC2, ENC1, ENC0
67	cmdMO_RMPCFG	moID (0-1), paramID, paramH, paramL	**cmdMO_RMPCFG, moID, paramID, paramH, paramL
68	cmdMO_RMPENA	RMPENA, !!moID (0-1)	none

* The cmdDEV_VAL packet is sent only if the HOST bit is set.
** The reply packet is sent when the command has no data byte(s).
! Not available in Moto 1.0 modules or GP 1.0 modules prior to firmware Build 12.
!! Optional parameter.

version: 1.0, build 80903