Before you begin, understand Packet Header:==============================================================================PKT_STX     | 2 bytes | 0x1b 0x02PORT        | 1 byte  | 0x01 - System Module                        0x02 - Motion                         0x03 - Joystick                        0x04 - Sonar                        0x05 - Digital I/O (Bump panels)                        0x06 - IRPACKET_ID   | 1 byte  | Not used, but packets returned from base		        have increasing ID'sOPCODE      | 1 byte  | Depends on module and commandDATA_LENGTH | 1 byte  | Length of following dataDATA        | n bytes | Actual dataCHECKSUM    | 1 byte  | xor of all bytes from PORT to end of DATA PKT_ETX     | 2 bytes | 0x1b 0x03Opcodes and Packet Descriptions==============================================================================SYS_LCD_DUMP            0=======================================Timestamp             | 4 bytesRow		      | 1 byteNumber of bytes	      | 1 byteLCD Screen contents   | VariableSYS_STATUS              1=======================================Timestamp	      | 4 bytesVolts		      | 4 bytesBrake Status	      | 1 byteMotion Opcodes==============================================================================Motion Axis:0 - translation1 - rotation2 & 3 - not usedMOT_AXIS_GET_SYSTEM      0=======================================Axis		      | 1 byteMOT_AXIS_GET_MODEL       1=======================================Axis		      | 1 byteMOT_AXIS_GET_TARGET      2=======================================Axis		      | 1 byteMOT_AXIS_SET_DIR         7=======================================Axis		      | 1 byteVelocity	      | 4 bytesAcceleration	      | 4 byteTorque		      | 4 bytesDirection	      | 1 byteMOT_AXIS_SET_POS         8=======================================Axis		      | 1 byteVelocity	      | 4 bytesAcceleration	      | 4 byteTorque		      | 4 bytesPosition	      | 4 bytesMOT_AXIS_GET_MODE        9=======================================Axis		      | 1 byteMOT_SET_DEFAULTS        10=======================================No Data SegmentMOT_BRAKE_SET           11=======================================No Data SegmentMOT_BRAKE_RELEASE       12=======================================No Data SegmentMOT_SYSTEM_REPORT       33=======================================rv		      | 4 bytes  | Unknown dataTimestamp	      | 4 bytes  Axis		      | 1 bytePosition	      | 4 bytesVelocity	      | 4 bytesAcceleration	      | 4 byteTorque		      | 4 bytesMOT_SYSTEM_REPORT_REQ   34=======================================Period		      | 4 bytes  | Time between published system reportsMask		      | 4 bytes  | Which axes to publish for. 		                 | Mask |= 1 << axisUnused Opcodes:========================================MOT_AXIS_SET_LIMITS      3MOT_AXIS_GET_LIMITS      4MOT_AXIS_SET_POS_LIMITS  5MOT_AXIS_GET_POS_LIMITS  6MOT_GET_NAXES           65MOT_SET_GEARING         66MOT_GET_GEARING         67MOT_MOTOR_SET_MODE      68MOT_MOTOR_GET_MODE      69MOT_MOTOR_SET_PARMS     70MOT_MOTOR_GET_PARMS     71MOT_MOTOR_SET_LIMITS    72MOT_MOTOR_GET_LIMITS    73MOT_MOTOR_GET_DATA      74MOT_AXIS_SET_PARMS      75MOT_AXIS_GET_PARMS      76MOT_AXIS_SET_PWM_LIMIT  77MOT_AXIS_GET_PWM_LIMIT  78MOT_AXIS_SET_PWM        79MOT_AXIS_GET_PWM        80Motion Opcodes==============================================================================From client to base:JSTK_GET_STATE           0========================================No Data SegmentFrom base to client:JSTK_GET_STATE           0========================================Timestamp	      | 4 bytes  X		      | 4 bytes  Y		      | 4 bytes  Buttons		      | 1 byteSonar Opcodes==============================================================================SONAR_RUN          0========================================Echo Delay	      | 4 bytes  | Default is 30000Ping Delay	      | 4 bytes  | Default is 0Set Delay	      | 4 bytes  | Default is 0Mode		      | 1 byte   | 0 off				   2 on  SONAR_GET_UPDATE   1========================================Timestamp	      | 4 bytes	 SONAR_REPORT       2========================================Retval		      | 4 bytes  | Unknown dataTimestamp	      | 4 bytes	 Sonar ID	      | 1 byte   | There are a variable number of these, givenRange		      | 2 bytes  | by (DATA_LENGTH - 8)/2Digital I/O Opcodes==============================================================================DIO_REPORTS_REQ  0========================================Period		      | 4 bytes	 From base to client:DIO_REPORTS_REQ  0========================================Retval		      | 4 bytes  | Unknown dataTimestamp	      | 4 bytes	 DIO_REPORT       1========================================Timestamp	      | 4 bytesNet ID		      | 1 byteOffset 		      | 1 byteState		      | 1 byteFrom client to base:DIO_GET_UPDATE   2========================================Timestamp	      | 4 bytes	 From base to client:DIO_GET_UPDATE   2========================================Retval		      | 4 bytes  | Unknown dataTimestamp	      | 4 bytes	 Count		      | 4 bytes	 | Unknown dataDIO_UPDATE       3========================================Timestamp	      | 4 bytesNet ID		      | 1 byteOffset 		      | 1 byteState		      | 1 byteFrom client to base:DIO_SET          4========================================Net ID		      | 1 byteOffset 		      | 1 byteState		      | 1 byteMask		      | 1 byteFrom base to client:DIO_SET          4========================================Retval		      | 4 bytes  | Unknown dataTimestamp	      | 4 bytes	 I/R Opcodes==============================================================================There are no used I/R opcodesIR_RUN          0IR_REPORT       1