Command Code:

cmdERRATT = 50

The Packet:

0		1		2		3		4		5		6
address		5		cmdERRATT		MSG		INPUT		REF		ATTFAC

MSG -	Base reflex message
INPUT -	Input parameter
REF -	Reference Value
ATTFAC -	Attenuation Factor

Description:

This command compares an input parameter to a reference value and calculates the error.  It attenuates this error by right-shifting it.  The ATTFAC byte is the number of shifts.  This divides the error by a power of 2.  It generates a raw input of either MSG+0 or MSG+1 based on the result:

MSG+0 -- error is less than 0

MSG+1 -- error is greater than or equal to 0

The parameter for the new raw input is the absolute value of the attenuated error.