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# Defines a protocol for communication between the computer and Arduino
basic-com: &base
1: True
2: True
can_get: True
can_set: False
type: int
commands:
- <<: *base
name: ModelNumber
- <<: *base
name: FirmwareVersion
- <<: *base
name: ID
can_set: True
- <<: *base
name: ReturnDelay
can_set: True
- <<: *base
name: CWLimit
can_set: True
type: float
- <<: *base
name: CCWLimit
can_set: True
type: float
- <<: *base
name: TempLimit
can_set: True
- <<: *base
name: LowVoltageLimit
can_set: True
type: float
- <<: *base
name: HighVoltageLimit
can_set: True
type: float
- <<: *base
name: MaxTorque
can_set: True
type: float
- <<: *base
name: MaxTorque
can_set: True
type: float
- <<: *base
name: AlarmFlags
can_set: True
2: False
- <<: *base
name: ShutdownFlags
can_set: True
- <<: *base
name: TorqueEnable
can_set: True
type: bool
- <<: *base
name: LED
can_set: True
- <<: *base
name: Voltage
type: float
- <<: *base
name: Position
type: float
- <<: *base
name: Load
type: float
- <<: *base
name: Temperature
- <<: *base
name: Speed
type: float
- <<: *base
name: GoalPosition
can_set: True
type: float
- <<: *base
name: GoalSpeed
can_set: True
type: float
- <<: *base
name: TorqueLimit
can_set: True
type: float
- <<: *base
name: CWMargin
2: False
can_set: True
- <<: *base
name: CCWMargin
2: False
can_set: True
- <<: *base
name: CWSlope
2: False
can_set: True
- <<: *base
name: CCWSlope
2: False
can_set: True
- <<: *base
name: Punch
can_set: True
type: float
- <<: *base
name: Moving
type: bool