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<markdown>
Protocol
===============================================================================

## Basic Specification
In sending a command, firstly send header that defined as 3 characters.
Secondly formatting and send each argument.

Before sending a command, client must convert binary-expression to ascii-expression.
(If the client sending a command without conversion, PLEN's moving is different from you intended.)

No differences the command line made of upper case or lower case.
Required baud-rate is **2,000,000**.


## Group of Controller Command
### $AN (Apply Native Value)

|Args     |Roles                     |Min (dec)|Max (dec)|Format                 |
|:--------|:-------------------------|:-------:|:-------:|:----------------------|
|DEVICE_ID|Set a device id.          |0        |23       |0 padding，hex，2 bytes|
|VALUE    |Set to apply native value.|-2048    |2047     |0 padding，hex，3 bytes|

*example*:  
If you want to apply **1000** to device **10**, send command below.

```
$an0a3e8
```

### $AD (Apply Diff Value)

|Args     |Roles                   |Min (dec)|Max (dec)|Format                 |
|:--------|:-----------------------|:-------:|:-------:|:----------------------|
|DEVICE_ID|Set a device id.        |0        |23       |0 padding，hex，2 bytes|
|VALUE    |Set to apply diff value.|-2048    |2047     |0 padding，hex，3 bytes|

*example*:  
If you want to apply **home value - 100** to device **4**, send command below.

```
$ad04f9c
```

### $PM (Play a Motion)

**Attention!**  
You could also use "$MP", but this is **deprecated**.

|Args|Roles            |Min (dec)|Max (dec)|Format                 |
|:---|:----------------|:-------:|:-------:|:----------------------|
|SLOT|Set to read slot.|0        |89       |0 padding，hex，2 bytes|

*example*:  
If you want to play slot **4**, send command below.

```
$pm04
```

### $SM (Stop a Motion)

**Attention!**  
You could also use "$MS", but this is **deprecated**.

*example*:  
If you want to stop a motion, send command below.

```
$sm
```

### $HP (Apply Home Position)

*example*:  
If you want to apply home position, send command below.

```
$hp
```


## Group of Interpreter Command
### #PU (Push a Function)

|Args      |Roles              |Min (dec)|Max (dec)|Format                 |
|:---------|:------------------|:-------:|:-------:|:----------------------|
|SLOT      |Set to read slot.  |0        |89       |0 padding，hex，2 bytes|
|LOOP_COUNT|Set number of play.|0        |255      |0 padding，hex，2 bytes|

*example*:  
If you want to push function that plays slot **10** **three** times, send command below.

```
#pu0a03
```

### #PO (Pop a Function)

*example*:  
If you want to pop a function, send command below.

```
#po
```

### #RI (Reset the Interpreter)

*example*:  
If you want to reset the interpreter, send command below.

```
#ri
```


## Group of Setter Command
### >MH (Set a Motion Header)

|Args        |Roles                                     |Min (dec)|Max (dec)|Format                       |
|:-----------|:-----------------------------------------|:-------:|:-------:|:----------------------------|
|SLOT        |Set to write slot.                        |0        |89       |0 padding，hex，2 bytes      |
|NAME        |Set a motion name.                        |---      |---      |White space padding，20 bytes|
|USE_LOOP    |Use loop function or not.                 |0        |1        |True (1) or false (0), 1 byte|
|LOOP_BEGIN  |Set a loop beginning frame.               |0        |255      |0 padding，hex，2 bytes      |
|LOOP_END    |Set a loop ending frame.                  |0        |255      |0 padding，hex，2 bytes      |
|LOOP_COUNT  |Set a loop count. (255 as infinity.)      |0        |255      |0 padding，hex，2 bytes      |
|USE_JUMP    |Use jump function or not.                 |0        |1        |True (1) or false (0), 1 byte|
|JUMP_SLOT   |Jump to the slot after stopped the motion.|0        |255      |0 padding，hex，2 bytes      |
|USE_EXTRA   |Use extra function or not. (WIP)          |0        |1        |True (1) or false (0), 1 byte|
|FRAME_LENGTH|Set a frame length.                       |1        |20       |0 padding，hex，2 bytes      |

*example*:  
Please get more details at ">MF" section.

### >MF (Set a Motion Frame)

|Args              |Roles                        |Min (dec)|Max (dec)|Format                 |
|:-----------------|:----------------------------|:-------:|:-------:|:----------------------|
|SLOT              |Set to write slot.           |0        |89       |0 padding，hex，2 bytes|
|FRAME_ID          |Set a frame id.              |1        |20       |0 padding，hex，2 bytes|
|TRANSITION_TIME_MS|Set a transition time (msec).|32       |65535    |0 padding，hex，4 bytes|
|VALUE[DEVICE_ID]  |Set to apply value. (*1)     |-32768   |32767    |0 padding，hex，4 bytes|

**(*1) Sum of devices is 24 and the all are servo motors in current implementation.**

*example*  
Introduce how to install a motion below.

|Args              |Values|
|:-----------------|:-----|
|SLOT              |0     |
|NAME              |Test  |
|USE_LOOP          |True  |
|LOOP_BEGIN        |0     |
|LOOP_END          |1     |
|LOOP_COUNT        |3     |
|USE_JUMP          |True  |
|JUMP_SLOT         |50    |
|USE_EXTRA         |False |
|FRAME_LENGTH      |2     |

|Args              |Values|
|:-----------------|:-----|
|TRANSITION_TIME_MS|100   |
|VALUE[EVEN]       |0     |
|VALUE[ODD]        |-1    |

Please send command below. (Do not need to insert CR, LF, or CRLF actually.)

```
>MH00
Test                
1
00
01
03
1
32
0
02

>MF
00
00
0064
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff

>MF
00
01
0064
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff
0000ffff0000ffff0000ffff0000ffff
```

If you are interested deeply, please see also
[the implementation on the Control Server](https://github.com/plenprojectcompany/plen-ControlServer/blob/master/control_server/protocol/protocol.py).

### >JS (Reset the Joint Settings)

*example*:  
If you want to reset the joint settings, send command below.

```
>js
```

### >HO (Set a Home Value)

|Args     |Roles                   |Min (dec)|Max (dec)|Format                 |
|:--------|:-----------------------|:-------:|:-------:|:----------------------|
|DEVICE_ID|Set a device id.        |0        |23       |0 padding，hex，2 bytes|
|VALUE    |Set to apply home value.|-2048    |2047     |0 padding，hex，3 bytes|

*example*:  
If you want to apply **100** as home value to device **0**, send command below.

```
>ho00064
```

### >MA (Set a Max Value)

|Args     |Roles                  |Min (dec)|Max (dec)|Format                 |
|:--------|:----------------------|:-------:|:-------:|:----------------------|
|DEVICE_ID|Set a device id.       |0        |23       |0 padding，hex，2 bytes|
|VALUE    |Set to apply max value.|-2048    |2047     |0 padding，hex，3 bytes|

*example*:  
If you want to apply **100** as max value to device **0**, send command below.

```
>ma00064
```

### >MI (Set a Min Value)

|Args     |Roles                  |Min (dec)|Max (dec)|Format                 |
|:--------|:----------------------|:-------:|:-------:|:----------------------|
|DEVICE_ID|Set a device id.       |0        |23       |0 padding，hex，2 bytes|
|VALUE    |Set to apply min value.|-2048    |2047     |0 padding，hex，3 bytes|

*example*:  
If you want to apply **-1** as min value to device **10**, send command below.

```
>mi0afff
```

## Group of Getter Command
### <JS (Dump the Joint Settings)

*example*:  
If you want to dump the joint settings, send command below.

```
<js
```

At that time, outputting result like json below.

```
[
    {
        "@device": <integer>,
        "max": <integer>,
        "min": <integer>,
        "home": <integer>
    },
    ...
]
```

### <MO (Dump a Motion)

|Args|Roles            |Min (dec)|Max (dec)|Format                 |
|:---|:----------------|:-------:|:-------:|:----------------------|
|SLOT|Set to read slot.|0        |89       |0 padding，hex，2 bytes|

*example*:  
If you want to dump slot **0**, send command below.

```
<mo00
```

At that time, outputting result like "motion.json". ([See also...](https://github.com/plenprojectcompany/PLEN2/tree/master/motions))
However, property "device"'s type is not **string** but **integer** defined as device id in "[device_map.json](https://github.com/plenprojectcompany/plen-ControlServer/blob/master/control_server/device_map.json)".

### <VI (Dump the Version Information)

*example*:  
If you want to dump the version information, send command below.

```
<vi
```

At that time, outputting result like json below.

```
{
    "device": <string>,
    "codename": <string>,
    "version": <string>
}
```
</markdown>
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