Command Code:

cmdPERRAMP = 54

The Packet:

0		1		2		3		4		5		6
address		5		cmdPERRAMP		MSG		INPUT		SPXREF		SPXAMP

MSG -	Base reflex message
INPUT -	Input parameter
SPXREF -	Scratch pad index of Reference Value
SPXAMP -	Scratch pad index of Amplification Factor

Description:

This command compares an input parameter to a reference value and calculates the error.  It amplifies this error by multiplying it by a byte value.  The reference and amplification factor come from the scratch pad.  If the multiplication result exceeds 255, the amplified error is set at 255.  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 amplified error.

See the discussion of Scratch Pad usage for more details.