[RoboPlus Motion Protocol]

<Note>
=> : from Host(PC) to DARwIn
<= : from DARwIn to Host(PC)
\n : New line character
... : Iterate until last one


(1)Connect/Disconnect
*TCP/IP Connect/Disconnect
*Port number is 6501


(2)Version
----------------------------------------
=> v
<= {[DARwIn:VERSION]}\n
----------------------------------------
*VERSION: Version of roboplus_vm. (ex, 1.000)


(3)Start
-----------------------------------------
=> E
<= {[DARwIn:VERSION]}
<= {[PC:TCP/IP][DXL:1000000(BPS)]}
<= {[ID:MODEL(NAME)]...}
<= {[DXL:NUMBER(PCS)}
<= {[ME]}\n
-----------------------------------------
*VERSION: Version of roboplus_vm
*MODEL: Model number of dynamixel (ex, 29 (MX-28))
*NUMBER: Number of connected dynamixel


(4)Exit
-----------------------------------------
=> exit
-----------------------------------------


(5)Get page list
-----------------------------------------
=> List
<= {[PAGE:STEP:NEXT:EXIT] ...}
<= {[ME]}\n
-----------------------------------------
*PAGE: Index of page
*STEP: Number of step in the page
*NEXT: Value of next page in the page
*EXIT: Value of exit page in the page


(6)Get step
-----------------------------------------
=> Get
<= {[VALUE] ...}
-----------------------------------------
*VALUE: Present position value of dynamixel
        ----: No exist
        ????: State of torque off
        0~1023: Position value


(7)Go step
------------------------------------------
=> go VALUE1 ...
<= {[VALUE2] ...}
------------------------------------------
*VALUE1: Goal position value of dynamixel
*VALUE2: Same as return of "Get step" 


(8)Torque on/off
------------------------------------------
=> on/off ID ...
<= {[VALUE] ...}
------------------------------------------
*ID: ID of selected dynamixel. If no id, it means all dynamixel.
*VALUE: Same as return of "Get step"


(9)Set joint
-------------------------------------------
=> set ID VALUE1
<= {[VALUE2]}
<= {[ME]}\n
-------------------------------------------
*ID: ID of selected dynamixel
*VALUE1: Goal position value of selected dydnamixel
*VALUE2: Present position value of selected dydnamixel. Format is same as return of "Get step"


(10)Play
-------------------------------------------
(Start playing)
=> play PAGE1

(Get current inforamtion while playing)
=> info
<= {[PAGE2:STEP]}\n

(Stop/Break playing)
=> stop/break

(When playing done)
<= {[OK]}\n
-------------------------------------------
*PAGE1: Index of page to play
*PAGE2: Index of current page in playing
*STEP: Index of current step in playing


(11)RDownload
-------------------------------------------
=> RDownload
<= {[READY]}\n
=> STREAM

(If success)
<= {[SUCCESS]}\n
(If failed)
<= {[FAILURE]}\n

<={[ME]}\n
--------------------------------------------
*STREAM: Byte stream of page to download


(12)RPlay
--------------------------------------------
=> rplay PAGE
(Same as return of "Play")
--------------------------------------------
*PAGE: Index of page to play


(13)Upload
--------------------------------------------
=> upload ADDRESS SIZE
<= STREAM
<= {[ME]}\n
--------------------------------------------
*ADDRESS: Start address of page to upload
*SIZE: Number of byte of page to upload
*STREAM: Byte stream of page to upload


(14)Download
--------------------------------------------
=> ld ADDRESS SIZE
<= {[READY]}\n
=> STREAM
--------------------------------------------
*ADDRESS: Start address of page to download
*SIZE: Number of byte of page to download
*STREAM: Byte stream of page to download