From 8b25f4bd02988df37f28e0d976ab95c1bef219eb Mon Sep 17 00:00:00 2001 From: megamim247 <126881780+megamim247@users.noreply.github.com> Date: Tue, 28 Oct 2025 18:27:59 +0000 Subject: [PATCH 1/3] functioning for loop --- CAN_traffic_logs_0002.csv | 837 ++++++++++++++++++++++++++++++++++++++ ESP32/reciever.py | 21 + ESP32/serial_tester.py | 9 + ESP32/src/main.cpp | 10 +- 4 files changed, 874 insertions(+), 3 deletions(-) create mode 100644 CAN_traffic_logs_0002.csv create mode 100644 ESP32/reciever.py create mode 100644 ESP32/serial_tester.py diff --git a/CAN_traffic_logs_0002.csv b/CAN_traffic_logs_0002.csv new file mode 100644 index 0000000..83376db --- /dev/null +++ b/CAN_traffic_logs_0002.csv @@ -0,0 +1,837 @@ +Time(ms),Dir,ID,Len,B0,B1,B2,B3,B4,B5,B6,B7,Decoded +3360,TX,0x201,3,0x3D,0x3D,0x40,0xFF,,,,,"Request register 0x40" +4874,TX,0x201,3,0x3D,0x3D,0xEB,0x00,,,,,"Request register 0xEB" +6055,TX,0x201,3,0x8E,0x8E,0x00,0x00,,,,,"Clear all error flags" +7517,TX,0x201,3,0xD0,0xD0,0xF4,0x01,,,,,"Set CAN timeout = 500 ms" +8524,TX,0x201,3,0x8E,0x8E,0x00,0x00,,,,,"Clear all error flags" +8630,TX,0x201,3,0x51,0x51,0x04,0x00,,,,,"Lock/Disable drive" +8736,TX,0x201,3,0x51,0x51,0x00,0x00,,,,,"Enable drive" +8742,TX,0x201,3,0x3D,0x3D,0x40,0x00,,,,,"Request register 0x40" +9833,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11269,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +11296,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +11322,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11348,TX,0x201,3,0x90,0x90,0x68,0x00,,,,,"Set torque command = 104" +11374,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +11400,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +11426,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +11452,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11478,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11504,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +11530,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11556,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11582,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11608,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11633,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11659,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11685,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11711,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11737,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11763,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11789,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11815,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11840,TX,0x201,3,0x90,0x90,0x10,0x00,,,,,"Set torque command = 16" +11866,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +11892,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11918,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11944,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11970,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +11996,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12022,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12048,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12074,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +12100,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +12126,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12152,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12178,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12204,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12230,TX,0x201,3,0x90,0x90,0x10,0x00,,,,,"Set torque command = 16" +12256,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12282,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +12308,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12334,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12360,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12386,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12412,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +12437,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12463,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +12489,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12515,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12541,TX,0x201,3,0x90,0x90,0x10,0x00,,,,,"Set torque command = 16" +12567,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12593,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12619,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12645,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12671,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +12697,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +12723,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +12749,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12775,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12801,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12826,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12852,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12878,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12904,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +12930,TX,0x201,3,0x90,0x90,0x0C,0x00,,,,,"Set torque command = 12" +12956,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +12982,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13008,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +13034,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13060,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13086,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13112,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +13138,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13164,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13190,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +13215,TX,0x201,3,0x90,0x90,0x10,0x00,,,,,"Set torque command = 16" +13241,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13267,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13293,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13319,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13345,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13371,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13397,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13422,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13448,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13474,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13500,TX,0x201,3,0x90,0x90,0x10,0x00,,,,,"Set torque command = 16" +13526,TX,0x201,3,0x90,0x90,0x14,0x00,,,,,"Set torque command = 20" +13552,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13578,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13604,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13630,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13656,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13682,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +13708,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +13734,TX,0x201,3,0x90,0x90,0xF8,0x00,,,,,"Set torque command = 248" +13760,TX,0x201,3,0x90,0x90,0xD4,0x01,,,,,"Set torque command = 468" +13786,TX,0x201,3,0x90,0x90,0x88,0x02,,,,,"Set torque command = 648" +13811,TX,0x201,3,0x90,0x90,0xD4,0x02,,,,,"Set torque command = 724" +13837,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +13863,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +13889,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +13915,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +13941,TX,0x201,3,0x90,0x90,0xCC,0x02,,,,,"Set torque command = 716" +13967,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +13993,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14019,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14045,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14071,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14097,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14123,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14149,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14175,TX,0x201,3,0x90,0x90,0xD4,0x02,,,,,"Set torque command = 724" +14200,TX,0x201,3,0x90,0x90,0x14,0x03,,,,,"Set torque command = 788" +14226,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14252,TX,0x201,3,0x90,0x90,0xE4,0x02,,,,,"Set torque command = 740" +14278,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14304,TX,0x201,3,0x90,0x90,0xD4,0x02,,,,,"Set torque command = 724" +14330,TX,0x201,3,0x90,0x90,0xE8,0x02,,,,,"Set torque command = 744" +14356,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14382,TX,0x201,3,0x90,0x90,0xE8,0x02,,,,,"Set torque command = 744" +14408,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14434,TX,0x201,3,0x90,0x90,0xE8,0x02,,,,,"Set torque command = 744" +14460,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14486,TX,0x201,3,0x90,0x90,0xD4,0x02,,,,,"Set torque command = 724" +14512,TX,0x201,3,0x90,0x90,0xE4,0x02,,,,,"Set torque command = 740" +14538,TX,0x201,3,0x90,0x90,0xD0,0x02,,,,,"Set torque command = 720" +14564,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +14589,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14615,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14641,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14667,TX,0x201,3,0x90,0x90,0xE4,0x02,,,,,"Set torque command = 740" +14693,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14719,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14745,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14770,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +14796,TX,0x201,3,0x90,0x90,0xE8,0x02,,,,,"Set torque command = 744" +14822,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14848,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +14874,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +14900,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +14926,TX,0x201,3,0x90,0x90,0xC8,0x02,,,,,"Set torque command = 712" +14952,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +14978,TX,0x201,3,0x90,0x90,0xE4,0x02,,,,,"Set torque command = 740" +15004,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15032,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15058,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15084,TX,0x201,3,0x90,0x90,0xCC,0x02,,,,,"Set torque command = 716" +15110,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15136,TX,0x201,3,0x90,0x90,0xE8,0x02,,,,,"Set torque command = 744" +15161,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15187,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +15213,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +15239,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15265,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15291,TX,0x201,3,0x90,0x90,0xE4,0x02,,,,,"Set torque command = 740" +15317,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15343,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15369,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15395,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15421,TX,0x201,3,0x90,0x90,0xD4,0x02,,,,,"Set torque command = 724" +15447,TX,0x201,3,0x90,0x90,0xE8,0x02,,,,,"Set torque command = 744" +15473,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15499,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15525,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15550,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +15576,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +15602,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15628,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15654,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15680,TX,0x201,3,0x90,0x90,0xE4,0x02,,,,,"Set torque command = 740" +15706,TX,0x201,3,0x90,0x90,0xE4,0x02,,,,,"Set torque command = 740" +15733,TX,0x201,3,0x90,0x90,0xD8,0x02,,,,,"Set torque command = 728" +15759,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15785,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15811,TX,0x201,3,0x90,0x90,0xE0,0x02,,,,,"Set torque command = 736" +15837,TX,0x201,3,0x90,0x90,0xEC,0x02,,,,,"Set torque command = 748" +15863,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15889,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15915,TX,0x201,3,0x90,0x90,0xDC,0x02,,,,,"Set torque command = 732" +15939,TX,0x201,3,0x90,0x90,0xE8,0x02,,,,,"Set torque command = 744" +15965,TX,0x201,3,0x90,0x90,0xF8,0x02,,,,,"Set torque command = 760" +15991,TX,0x201,3,0x90,0x90,0x24,0x03,,,,,"Set torque command = 804" +16017,TX,0x201,3,0x90,0x90,0x5C,0x03,,,,,"Set torque command = 860" +16043,TX,0x201,3,0x90,0x90,0xB8,0x03,,,,,"Set torque command = 952" +16069,TX,0x201,3,0x90,0x90,0x28,0x04,,,,,"Set torque command = 1064" +16095,TX,0x201,3,0x90,0x90,0xB4,0x04,,,,,"Set torque command = 1204" +16120,TX,0x201,3,0x90,0x90,0x30,0x05,,,,,"Set torque command = 1328" +16146,TX,0x201,3,0x90,0x90,0xC8,0x05,,,,,"Set torque command = 1480" +16172,TX,0x201,3,0x90,0x90,0x74,0x06,,,,,"Set torque command = 1652" +16198,TX,0x201,3,0x90,0x90,0xF0,0x06,,,,,"Set torque command = 1776" +16224,TX,0x201,3,0x90,0x90,0xC8,0x07,,,,,"Set torque command = 1992" +16250,TX,0x201,3,0x90,0x90,0xAC,0x08,,,,,"Set torque command = 2220" +16276,TX,0x201,3,0x90,0x90,0xA4,0x09,,,,,"Set torque command = 2468" +16302,TX,0x201,3,0x90,0x90,0x94,0x0A,,,,,"Set torque command = 2708" +16328,TX,0x201,3,0x90,0x90,0x9C,0x0B,,,,,"Set torque command = 2972" +16354,TX,0x201,3,0x90,0x90,0x94,0x0C,,,,,"Set torque command = 3220" +16380,TX,0x201,3,0x90,0x90,0x90,0x0D,,,,,"Set torque command = 3472" +16406,TX,0x201,3,0x90,0x90,0x54,0x0E,,,,,"Set torque command = 3668" +16432,TX,0x201,3,0x90,0x90,0xB4,0x0E,,,,,"Set torque command = 3764" +16458,TX,0x201,3,0x90,0x90,0xB8,0x0E,,,,,"Set torque command = 3768" +16484,TX,0x201,3,0x90,0x90,0xC4,0x0E,,,,,"Set torque command = 3780" +16509,TX,0x201,3,0x90,0x90,0xB8,0x0E,,,,,"Set torque command = 3768" +16535,TX,0x201,3,0x90,0x90,0xB4,0x0E,,,,,"Set torque command = 3764" +16561,TX,0x201,3,0x90,0x90,0xC0,0x0E,,,,,"Set torque command = 3776" +16587,TX,0x201,3,0x90,0x90,0xC0,0x0E,,,,,"Set torque command = 3776" +16613,TX,0x201,3,0x90,0x90,0xB4,0x0E,,,,,"Set torque command = 3764" +16639,TX,0x201,3,0x90,0x90,0xBC,0x0E,,,,,"Set torque command = 3772" +16665,TX,0x201,3,0x90,0x90,0xCC,0x0E,,,,,"Set torque command = 3788" +16690,TX,0x201,3,0x90,0x90,0x20,0x0F,,,,,"Set torque command = 3872" +16716,TX,0x201,3,0x90,0x90,0xD0,0x0F,,,,,"Set torque command = 4048" +16742,TX,0x201,3,0x90,0x90,0x98,0x10,,,,,"Set torque command = 4248" +16768,TX,0x201,3,0x90,0x90,0x8C,0x11,,,,,"Set torque command = 4492" +16794,TX,0x201,3,0x90,0x90,0xB5,0x12,,,,,"Set torque command = 4789" +16820,TX,0x201,3,0x90,0x90,0xF1,0x13,,,,,"Set torque command = 5105" +16846,TX,0x201,3,0x90,0x90,0x31,0x15,,,,,"Set torque command = 5425" +16872,TX,0x201,3,0x90,0x90,0x89,0x16,,,,,"Set torque command = 5769" +16898,TX,0x201,3,0x90,0x90,0xCD,0x17,,,,,"Set torque command = 6093" +16924,TX,0x201,3,0x90,0x90,0x31,0x19,,,,,"Set torque command = 6449" +16950,TX,0x201,3,0x90,0x90,0xD5,0x1A,,,,,"Set torque command = 6869" +16976,TX,0x201,3,0x90,0x90,0x41,0x1C,,,,,"Set torque command = 7233" +17002,TX,0x201,3,0x90,0x90,0x89,0x1D,,,,,"Set torque command = 7561" +17028,TX,0x201,3,0x90,0x90,0x89,0x1E,,,,,"Set torque command = 7817" +17054,TX,0x201,3,0x90,0x90,0x4D,0x1F,,,,,"Set torque command = 8013" +17080,TX,0x201,3,0x90,0x90,0x91,0x1F,,,,,"Set torque command = 8081" +17106,TX,0x201,3,0x90,0x90,0x95,0x1F,,,,,"Set torque command = 8085" +17132,TX,0x201,3,0x90,0x90,0x95,0x1F,,,,,"Set torque command = 8085" +17158,TX,0x201,3,0x90,0x90,0x95,0x1F,,,,,"Set torque command = 8085" +17184,TX,0x201,3,0x90,0x90,0xA5,0x1F,,,,,"Set torque command = 8101" +17210,TX,0x201,3,0x90,0x90,0x95,0x1F,,,,,"Set torque command = 8085" +17236,TX,0x201,3,0x90,0x90,0x91,0x1F,,,,,"Set torque command = 8081" +17264,TX,0x201,3,0x90,0x90,0x91,0x1F,,,,,"Set torque command = 8081" +17290,TX,0x201,3,0x90,0x90,0x89,0x1F,,,,,"Set torque command = 8073" +17316,TX,0x201,3,0x90,0x90,0x8D,0x1F,,,,,"Set torque command = 8077" +17342,TX,0x201,3,0x90,0x90,0x95,0x1F,,,,,"Set torque command = 8085" +17368,TX,0x201,3,0x90,0x90,0x8D,0x1F,,,,,"Set torque command = 8077" +17394,TX,0x201,3,0x90,0x90,0x95,0x1F,,,,,"Set torque command = 8085" +17420,TX,0x201,3,0x90,0x90,0x9D,0x1F,,,,,"Set torque command = 8093" +17446,TX,0x201,3,0x90,0x90,0x05,0x20,,,,,"Set torque command = 8197" +17472,TX,0x201,3,0x90,0x90,0x65,0x20,,,,,"Set torque command = 8293" +17498,TX,0x201,3,0x90,0x90,0x15,0x21,,,,,"Set torque command = 8469" +17524,TX,0x201,3,0x90,0x90,0xED,0x21,,,,,"Set torque command = 8685" +17550,TX,0x201,3,0x90,0x90,0xF5,0x22,,,,,"Set torque command = 8949" +17576,TX,0x201,3,0x90,0x90,0xFD,0x23,,,,,"Set torque command = 9213" +17602,TX,0x201,3,0x90,0x90,0x36,0x25,,,,,"Set torque command = 9526" +17628,TX,0x201,3,0x90,0x90,0x76,0x26,,,,,"Set torque command = 9846" +17654,TX,0x201,3,0x90,0x90,0xAE,0x27,,,,,"Set torque command = 10158" +17680,TX,0x201,3,0x90,0x90,0x06,0x29,,,,,"Set torque command = 10502" +17706,TX,0x201,3,0x90,0x90,0x36,0x2A,,,,,"Set torque command = 10806" +17732,TX,0x201,3,0x90,0x90,0x6A,0x2B,,,,,"Set torque command = 11114" +17758,TX,0x201,3,0x90,0x90,0xAA,0x2C,,,,,"Set torque command = 11434" +17784,TX,0x201,3,0x90,0x90,0xF2,0x2D,,,,,"Set torque command = 11762" +17810,TX,0x201,3,0x90,0x90,0x4A,0x2F,,,,,"Set torque command = 12106" +17835,TX,0x201,3,0x90,0x90,0x72,0x30,,,,,"Set torque command = 12402" +17861,TX,0x201,3,0x90,0x90,0x86,0x31,,,,,"Set torque command = 12678" +17887,TX,0x201,3,0x90,0x90,0x7E,0x32,,,,,"Set torque command = 12926" +17913,TX,0x201,3,0x90,0x90,0x02,0x33,,,,,"Set torque command = 13058" +17939,TX,0x201,3,0x90,0x90,0x1A,0x33,,,,,"Set torque command = 13082" +17965,TX,0x201,3,0x90,0x90,0x16,0x33,,,,,"Set torque command = 13078" +17991,TX,0x201,3,0x90,0x90,0x1A,0x33,,,,,"Set torque command = 13082" +18017,TX,0x201,3,0x90,0x90,0x16,0x33,,,,,"Set torque command = 13078" +18043,TX,0x201,3,0x90,0x90,0x26,0x33,,,,,"Set torque command = 13094" +18069,TX,0x201,3,0x90,0x90,0x1E,0x33,,,,,"Set torque command = 13086" +18095,TX,0x201,3,0x90,0x90,0x46,0x33,,,,,"Set torque command = 13126" +18121,TX,0x201,3,0x90,0x90,0x16,0x33,,,,,"Set torque command = 13078" +18147,TX,0x201,3,0x90,0x90,0x1A,0x33,,,,,"Set torque command = 13082" +18173,TX,0x201,3,0x90,0x90,0x2E,0x33,,,,,"Set torque command = 13102" +18198,TX,0x201,3,0x90,0x90,0xD6,0x33,,,,,"Set torque command = 13270" +18224,TX,0x201,3,0x90,0x90,0xDA,0x34,,,,,"Set torque command = 13530" +18250,TX,0x201,3,0x90,0x90,0x0E,0x36,,,,,"Set torque command = 13838" +18276,TX,0x201,3,0x90,0x90,0x7B,0x37,,,,,"Set torque command = 14203" +18302,TX,0x201,3,0x90,0x90,0xC7,0x38,,,,,"Set torque command = 14535" +18328,TX,0x201,3,0x90,0x90,0x2B,0x3A,,,,,"Set torque command = 14891" +18354,TX,0x201,3,0x90,0x90,0xB7,0x3B,,,,,"Set torque command = 15287" +18380,TX,0x201,3,0x90,0x90,0x23,0x3D,,,,,"Set torque command = 15651" +18406,TX,0x201,3,0x90,0x90,0xC7,0x3E,,,,,"Set torque command = 16071" +18432,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +18458,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18484,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18510,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18536,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18562,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18588,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18614,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18640,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +18666,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +18692,TX,0x201,3,0x90,0x90,0xD3,0x3F,,,,,"Set torque command = 16339" +18718,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18744,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18769,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +18795,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +18821,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18847,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18873,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +18899,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18925,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +18951,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +18977,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +19003,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19029,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19055,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19081,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19107,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +19133,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +19159,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19185,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19211,TX,0x201,3,0x90,0x90,0xE3,0x3F,,,,,"Set torque command = 16355" +19237,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19263,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19289,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19315,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +19341,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19367,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19393,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +19419,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19445,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19471,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +19497,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19522,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +19548,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +19574,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +19600,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +19626,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +19652,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19678,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19703,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19729,TX,0x201,3,0x90,0x90,0xE7,0x3F,,,,,"Set torque command = 16359" +19755,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +19781,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19807,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19833,TX,0x201,3,0x90,0x90,0x3F,0x3F,,,,,"Set torque command = 16191" +19859,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +19885,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +19911,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +19937,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +19963,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +19990,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20016,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20042,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +20068,TX,0x201,3,0x90,0x90,0xE3,0x3F,,,,,"Set torque command = 16355" +20094,TX,0x201,3,0x90,0x90,0xE3,0x3F,,,,,"Set torque command = 16355" +20120,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +20146,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +20172,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +20198,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20224,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +20250,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +20276,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20302,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20328,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20354,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +20380,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +20406,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +20432,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20457,TX,0x201,3,0x90,0x90,0xE3,0x3F,,,,,"Set torque command = 16355" +20483,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +20509,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +20535,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +20561,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +20587,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +20613,TX,0x201,3,0x90,0x90,0xE7,0x3F,,,,,"Set torque command = 16359" +20638,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +20664,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +20690,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20716,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20742,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +20768,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +20794,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +20820,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20846,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20872,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20898,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +20924,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +20950,TX,0x201,3,0x90,0x90,0xE3,0x3F,,,,,"Set torque command = 16355" +20976,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21002,TX,0x201,3,0x90,0x90,0xC3,0x3E,,,,,"Set torque command = 16067" +21028,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +21054,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21080,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21106,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21132,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +21158,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21184,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21210,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21236,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21262,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21288,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21314,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21340,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +21366,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +21391,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +21417,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21443,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21469,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +21495,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +21521,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21547,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +21572,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +21598,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21624,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +21650,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21676,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +21702,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +21728,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21755,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +21781,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +21807,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21833,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21859,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21885,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21911,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +21937,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +21963,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +21989,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22015,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +22041,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +22067,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +22093,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22119,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22143,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +22169,TX,0x201,3,0x90,0x90,0xBF,0x3F,,,,,"Set torque command = 16319" +22195,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22221,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22247,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22273,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +22299,TX,0x201,3,0x90,0x90,0xE3,0x3F,,,,,"Set torque command = 16355" +22324,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +22350,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22376,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +22402,TX,0x201,3,0x90,0x90,0xE3,0x3E,,,,,"Set torque command = 16099" +22428,TX,0x201,3,0x90,0x90,0x5F,0x3D,,,,,"Set torque command = 15711" +22454,TX,0x201,3,0x90,0x90,0xC3,0x3B,,,,,"Set torque command = 15299" +22480,TX,0x201,3,0x90,0x90,0x17,0x3A,,,,,"Set torque command = 14871" +22505,TX,0x201,3,0x90,0x90,0x37,0x38,,,,,"Set torque command = 14391" +22531,TX,0x201,3,0x90,0x90,0x4E,0x36,,,,,"Set torque command = 13902" +22557,TX,0x201,3,0x90,0x90,0x2E,0x34,,,,,"Set torque command = 13358" +22583,TX,0x201,3,0x90,0x90,0x0A,0x32,,,,,"Set torque command = 12810" +22609,TX,0x201,3,0x90,0x90,0x22,0x30,,,,,"Set torque command = 12322" +22635,TX,0x201,3,0x90,0x90,0x8E,0x2E,,,,,"Set torque command = 11918" +22661,TX,0x201,3,0x90,0x90,0x72,0x2D,,,,,"Set torque command = 11634" +22687,TX,0x201,3,0x90,0x90,0x0A,0x2D,,,,,"Set torque command = 11530" +22713,TX,0x201,3,0x90,0x90,0x12,0x2D,,,,,"Set torque command = 11538" +22739,TX,0x201,3,0x90,0x90,0x0E,0x2D,,,,,"Set torque command = 11534" +22765,TX,0x201,3,0x90,0x90,0x12,0x2D,,,,,"Set torque command = 11538" +22791,TX,0x201,3,0x90,0x90,0x12,0x2D,,,,,"Set torque command = 11538" +22817,TX,0x201,3,0x90,0x90,0x02,0x2D,,,,,"Set torque command = 11522" +22843,TX,0x201,3,0x90,0x90,0x12,0x2D,,,,,"Set torque command = 11538" +22869,TX,0x201,3,0x90,0x90,0x16,0x2D,,,,,"Set torque command = 11542" +22895,TX,0x201,3,0x90,0x90,0xCE,0x2C,,,,,"Set torque command = 11470" +22921,TX,0x201,3,0x90,0x90,0x02,0x2C,,,,,"Set torque command = 11266" +22947,TX,0x201,3,0x90,0x90,0xB2,0x2A,,,,,"Set torque command = 10930" +22973,TX,0x201,3,0x90,0x90,0x2A,0x29,,,,,"Set torque command = 10538" +22999,TX,0x201,3,0x90,0x90,0x62,0x27,,,,,"Set torque command = 10082" +23025,TX,0x201,3,0x90,0x90,0x5E,0x25,,,,,"Set torque command = 9566" +23051,TX,0x201,3,0x90,0x90,0x81,0x23,,,,,"Set torque command = 9089" +23076,TX,0x201,3,0x90,0x90,0xC5,0x21,,,,,"Set torque command = 8645" +23102,TX,0x201,3,0x90,0x90,0xFD,0x1F,,,,,"Set torque command = 8189" +23128,TX,0x201,3,0x90,0x90,0x5D,0x1E,,,,,"Set torque command = 7773" +23154,TX,0x201,3,0x90,0x90,0x05,0x1D,,,,,"Set torque command = 7429" +23180,TX,0x201,3,0x90,0x90,0xD9,0x1B,,,,,"Set torque command = 7129" +23206,TX,0x201,3,0x90,0x90,0x0D,0x1B,,,,,"Set torque command = 6925" +23232,TX,0x201,3,0x90,0x90,0xE1,0x1A,,,,,"Set torque command = 6881" +23260,TX,0x201,3,0x90,0x90,0xC9,0x1A,,,,,"Set torque command = 6857" +23286,TX,0x201,3,0x90,0x90,0xC5,0x1A,,,,,"Set torque command = 6853" +23312,TX,0x201,3,0x90,0x90,0xC1,0x1A,,,,,"Set torque command = 6849" +23338,TX,0x201,3,0x90,0x90,0xBD,0x1A,,,,,"Set torque command = 6845" +23364,TX,0x201,3,0x90,0x90,0xCD,0x1A,,,,,"Set torque command = 6861" +23390,TX,0x201,3,0x90,0x90,0xC9,0x1A,,,,,"Set torque command = 6857" +23416,TX,0x201,3,0x90,0x90,0xD1,0x1A,,,,,"Set torque command = 6865" +23442,TX,0x201,3,0x90,0x90,0xB9,0x1A,,,,,"Set torque command = 6841" +23468,TX,0x201,3,0x90,0x90,0x19,0x1A,,,,,"Set torque command = 6681" +23494,TX,0x201,3,0x90,0x90,0x41,0x19,,,,,"Set torque command = 6465" +23520,TX,0x201,3,0x90,0x90,0x49,0x18,,,,,"Set torque command = 6217" +23546,TX,0x201,3,0x90,0x90,0x89,0x16,,,,,"Set torque command = 5769" +23572,TX,0x201,3,0x90,0x90,0xDD,0x14,,,,,"Set torque command = 5341" +23598,TX,0x201,3,0x90,0x90,0x11,0x13,,,,,"Set torque command = 4881" +23624,TX,0x201,3,0x90,0x90,0x30,0x11,,,,,"Set torque command = 4400" +23649,TX,0x201,3,0x90,0x90,0x44,0x0F,,,,,"Set torque command = 3908" +23675,TX,0x201,3,0x90,0x90,0x60,0x0D,,,,,"Set torque command = 3424" +23701,TX,0x201,3,0x90,0x90,0x78,0x0B,,,,,"Set torque command = 2936" +23727,TX,0x201,3,0x90,0x90,0x98,0x09,,,,,"Set torque command = 2456" +23753,TX,0x201,3,0x90,0x90,0xE0,0x07,,,,,"Set torque command = 2016" +23779,TX,0x201,3,0x90,0x90,0x14,0x06,,,,,"Set torque command = 1556" +23805,TX,0x201,3,0x90,0x90,0x54,0x04,,,,,"Set torque command = 1108" +23831,TX,0x201,3,0x90,0x90,0x90,0x02,,,,,"Set torque command = 656" +23857,TX,0x201,3,0x90,0x90,0xE0,0x00,,,,,"Set torque command = 224" +23883,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +23909,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +23935,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +23961,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +23987,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24013,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24039,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24065,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24091,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24117,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +24143,TX,0x201,3,0x90,0x90,0x24,0x00,,,,,"Set torque command = 36" +24169,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +24195,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24220,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24246,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24272,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +24298,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24324,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24350,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +24376,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +24402,TX,0x201,3,0x90,0x90,0x28,0x01,,,,,"Set torque command = 296" +24427,TX,0x201,3,0x90,0x90,0xF4,0x02,,,,,"Set torque command = 756" +24453,TX,0x201,3,0x90,0x90,0x10,0x05,,,,,"Set torque command = 1296" +24479,TX,0x201,3,0x90,0x90,0x58,0x07,,,,,"Set torque command = 1880" +24505,TX,0x201,3,0x90,0x90,0xCC,0x09,,,,,"Set torque command = 2508" +24531,TX,0x201,3,0x90,0x90,0x48,0x0C,,,,,"Set torque command = 3144" +24557,TX,0x201,3,0x90,0x90,0xC8,0x0E,,,,,"Set torque command = 3784" +24583,TX,0x201,3,0x90,0x90,0x60,0x11,,,,,"Set torque command = 4448" +24608,TX,0x201,3,0x90,0x90,0xD1,0x13,,,,,"Set torque command = 5073" +24634,TX,0x201,3,0x90,0x90,0x5D,0x16,,,,,"Set torque command = 5725" +24660,TX,0x201,3,0x90,0x90,0xD5,0x18,,,,,"Set torque command = 6357" +24686,TX,0x201,3,0x90,0x90,0x81,0x1B,,,,,"Set torque command = 7041" +24712,TX,0x201,3,0x90,0x90,0x0D,0x1E,,,,,"Set torque command = 7693" +24738,TX,0x201,3,0x90,0x90,0x81,0x20,,,,,"Set torque command = 8321" +24764,TX,0x201,3,0x90,0x90,0xCD,0x22,,,,,"Set torque command = 8909" +24790,TX,0x201,3,0x90,0x90,0xF2,0x24,,,,,"Set torque command = 9458" +24816,TX,0x201,3,0x90,0x90,0x0E,0x27,,,,,"Set torque command = 9998" +24842,TX,0x201,3,0x90,0x90,0x42,0x29,,,,,"Set torque command = 10562" +24868,TX,0x201,3,0x90,0x90,0x46,0x2B,,,,,"Set torque command = 11078" +24894,TX,0x201,3,0x90,0x90,0x8A,0x2C,,,,,"Set torque command = 11402" +24921,TX,0x201,3,0x90,0x90,0x9A,0x2D,,,,,"Set torque command = 11674" +24947,TX,0x201,3,0x90,0x90,0x3E,0x2E,,,,,"Set torque command = 11838" +24973,TX,0x201,3,0x90,0x90,0xDA,0x2E,,,,,"Set torque command = 11994" +24999,TX,0x201,3,0x90,0x90,0x6E,0x2F,,,,,"Set torque command = 12142" +25025,TX,0x201,3,0x90,0x90,0xF2,0x2F,,,,,"Set torque command = 12274" +25051,TX,0x201,3,0x90,0x90,0x52,0x30,,,,,"Set torque command = 12370" +25077,TX,0x201,3,0x90,0x90,0x76,0x30,,,,,"Set torque command = 12406" +25103,TX,0x201,3,0x90,0x90,0x76,0x30,,,,,"Set torque command = 12406" +25129,TX,0x201,3,0x90,0x90,0x62,0x30,,,,,"Set torque command = 12386" +25155,TX,0x201,3,0x90,0x90,0x5E,0x30,,,,,"Set torque command = 12382" +25180,TX,0x201,3,0x90,0x90,0x86,0x30,,,,,"Set torque command = 12422" +25206,TX,0x201,3,0x90,0x90,0xCE,0x30,,,,,"Set torque command = 12494" +25232,TX,0x201,3,0x90,0x90,0x3E,0x31,,,,,"Set torque command = 12606" +25258,TX,0x201,3,0x90,0x90,0xD6,0x31,,,,,"Set torque command = 12758" +25284,TX,0x201,3,0x90,0x90,0x6A,0x32,,,,,"Set torque command = 12906" +25310,TX,0x201,3,0x90,0x90,0xFA,0x32,,,,,"Set torque command = 13050" +25336,TX,0x201,3,0x90,0x90,0x6E,0x33,,,,,"Set torque command = 13166" +25361,TX,0x201,3,0x90,0x90,0xDE,0x33,,,,,"Set torque command = 13278" +25387,TX,0x201,3,0x90,0x90,0x6E,0x34,,,,,"Set torque command = 13422" +25413,TX,0x201,3,0x90,0x90,0xC6,0x34,,,,,"Set torque command = 13510" +25439,TX,0x201,3,0x90,0x90,0x6A,0x35,,,,,"Set torque command = 13674" +25465,TX,0x201,3,0x90,0x90,0x12,0x36,,,,,"Set torque command = 13842" +25491,TX,0x201,3,0x90,0x90,0x9A,0x36,,,,,"Set torque command = 13978" +25517,TX,0x201,3,0x90,0x90,0x33,0x37,,,,,"Set torque command = 14131" +25543,TX,0x201,3,0x90,0x90,0xA3,0x37,,,,,"Set torque command = 14243" +25569,TX,0x201,3,0x90,0x90,0x27,0x38,,,,,"Set torque command = 14375" +25595,TX,0x201,3,0x90,0x90,0xAB,0x38,,,,,"Set torque command = 14507" +25621,TX,0x201,3,0x90,0x90,0x2F,0x39,,,,,"Set torque command = 14639" +25647,TX,0x201,3,0x90,0x90,0x8F,0x39,,,,,"Set torque command = 14735" +25673,TX,0x201,3,0x90,0x90,0x1B,0x3A,,,,,"Set torque command = 14875" +25699,TX,0x201,3,0x90,0x90,0x67,0x3A,,,,,"Set torque command = 14951" +25725,TX,0x201,3,0x90,0x90,0xDB,0x3A,,,,,"Set torque command = 15067" +25751,TX,0x201,3,0x90,0x90,0x3F,0x3B,,,,,"Set torque command = 15167" +25777,TX,0x201,3,0x90,0x90,0xA3,0x3B,,,,,"Set torque command = 15267" +25803,TX,0x201,3,0x90,0x90,0x33,0x3C,,,,,"Set torque command = 15411" +25829,TX,0x201,3,0x90,0x90,0x93,0x3C,,,,,"Set torque command = 15507" +25855,TX,0x201,3,0x90,0x90,0xF3,0x3C,,,,,"Set torque command = 15603" +25881,TX,0x201,3,0x90,0x90,0x8B,0x3D,,,,,"Set torque command = 15755" +25907,TX,0x201,3,0x90,0x90,0x17,0x3E,,,,,"Set torque command = 15895" +25933,TX,0x201,3,0x90,0x90,0xAB,0x3E,,,,,"Set torque command = 16043" +25959,TX,0x201,3,0x90,0x90,0x07,0x3F,,,,,"Set torque command = 16135" +25985,TX,0x201,3,0x90,0x90,0x27,0x3F,,,,,"Set torque command = 16167" +26011,TX,0x201,3,0x90,0x90,0x2F,0x3F,,,,,"Set torque command = 16175" +26037,TX,0x201,3,0x90,0x90,0x13,0x3F,,,,,"Set torque command = 16147" +26063,TX,0x201,3,0x90,0x90,0x13,0x3F,,,,,"Set torque command = 16147" +26089,TX,0x201,3,0x90,0x90,0x0F,0x3F,,,,,"Set torque command = 16143" +26114,TX,0x201,3,0x90,0x90,0x47,0x3F,,,,,"Set torque command = 16199" +26140,TX,0x201,3,0x90,0x90,0x17,0x3F,,,,,"Set torque command = 16151" +26166,TX,0x201,3,0x90,0x90,0x17,0x3F,,,,,"Set torque command = 16151" +26192,TX,0x201,3,0x90,0x90,0x0F,0x3F,,,,,"Set torque command = 16143" +26218,TX,0x201,3,0x90,0x90,0x0F,0x3F,,,,,"Set torque command = 16143" +26244,TX,0x201,3,0x90,0x90,0x1F,0x3F,,,,,"Set torque command = 16159" +26270,TX,0x201,3,0x90,0x90,0x0F,0x3F,,,,,"Set torque command = 16143" +26295,TX,0x201,3,0x90,0x90,0x13,0x3F,,,,,"Set torque command = 16147" +26321,TX,0x201,3,0x90,0x90,0x1B,0x3F,,,,,"Set torque command = 16155" +26347,TX,0x201,3,0x90,0x90,0x9F,0x3F,,,,,"Set torque command = 16287" +26373,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26399,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26425,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26451,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +26477,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +26503,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26529,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26555,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +26581,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26607,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +26633,TX,0x201,3,0x90,0x90,0x47,0x3F,,,,,"Set torque command = 16199" +26659,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26685,TX,0x201,3,0x90,0x90,0xDF,0x3F,,,,,"Set torque command = 16351" +26711,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +26737,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26763,TX,0x201,3,0x90,0x90,0x3B,0x3F,,,,,"Set torque command = 16187" +26789,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26815,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26841,TX,0x201,3,0x90,0x90,0xEF,0x3F,,,,,"Set torque command = 16367" +26867,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26893,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +26919,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +26945,TX,0x201,3,0x90,0x90,0xEB,0x3F,,,,,"Set torque command = 16363" +26971,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +26997,TX,0x201,3,0x90,0x90,0xA3,0x3F,,,,,"Set torque command = 16291" +27023,TX,0x201,3,0x90,0x90,0xFB,0x3F,,,,,"Set torque command = 16379" +27048,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +27074,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +27100,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +27126,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +27152,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +27178,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +27204,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +27229,TX,0x201,3,0x90,0x90,0xF3,0x3F,,,,,"Set torque command = 16371" +27255,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +27281,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +27307,TX,0x201,3,0x90,0x90,0xF7,0x3F,,,,,"Set torque command = 16375" +27333,TX,0x201,3,0x90,0x90,0xAB,0x3F,,,,,"Set torque command = 16299" +27359,TX,0x201,3,0x90,0x90,0x1F,0x3F,,,,,"Set torque command = 16159" +27385,TX,0x201,3,0x90,0x90,0xA7,0x3E,,,,,"Set torque command = 16039" +27411,TX,0x201,3,0x90,0x90,0x13,0x3E,,,,,"Set torque command = 15891" +27437,TX,0x201,3,0x90,0x90,0x63,0x3D,,,,,"Set torque command = 15715" +27463,TX,0x201,3,0x90,0x90,0xBF,0x3C,,,,,"Set torque command = 15551" +27489,TX,0x201,3,0x90,0x90,0xE7,0x3B,,,,,"Set torque command = 15335" +27515,TX,0x201,3,0x90,0x90,0x2F,0x3B,,,,,"Set torque command = 15151" +27541,TX,0x201,3,0x90,0x90,0x4B,0x3A,,,,,"Set torque command = 14923" +27567,TX,0x201,3,0x90,0x90,0x8F,0x39,,,,,"Set torque command = 14735" +27593,TX,0x201,3,0x90,0x90,0xEB,0x38,,,,,"Set torque command = 14571" +27617,TX,0x201,3,0x90,0x90,0x17,0x38,,,,,"Set torque command = 14359" +27643,TX,0x201,3,0x90,0x90,0x3F,0x37,,,,,"Set torque command = 14143" +27669,TX,0x201,3,0x90,0x90,0x16,0x36,,,,,"Set torque command = 13846" +27695,TX,0x201,3,0x90,0x90,0x02,0x35,,,,,"Set torque command = 13570" +27721,TX,0x201,3,0x90,0x90,0x0A,0x34,,,,,"Set torque command = 13322" +27747,TX,0x201,3,0x90,0x90,0x0E,0x33,,,,,"Set torque command = 13070" +27773,TX,0x201,3,0x90,0x90,0x02,0x32,,,,,"Set torque command = 12802" +27800,TX,0x201,3,0x90,0x90,0xEE,0x30,,,,,"Set torque command = 12526" +27826,TX,0x201,3,0x90,0x90,0xFA,0x2F,,,,,"Set torque command = 12282" +27852,TX,0x201,3,0x90,0x90,0x02,0x2F,,,,,"Set torque command = 12034" +27878,TX,0x201,3,0x90,0x90,0x26,0x2E,,,,,"Set torque command = 11814" +27904,TX,0x201,3,0x90,0x90,0x12,0x2D,,,,,"Set torque command = 11538" +27930,TX,0x201,3,0x90,0x90,0x36,0x2C,,,,,"Set torque command = 11318" +27956,TX,0x201,3,0x90,0x90,0x3E,0x2B,,,,,"Set torque command = 11070" +27981,TX,0x201,3,0x90,0x90,0x32,0x2A,,,,,"Set torque command = 10802" +28007,TX,0x201,3,0x90,0x90,0x36,0x29,,,,,"Set torque command = 10550" +28033,TX,0x201,3,0x90,0x90,0x06,0x28,,,,,"Set torque command = 10246" +28059,TX,0x201,3,0x90,0x90,0xFA,0x26,,,,,"Set torque command = 9978" +28085,TX,0x201,3,0x90,0x90,0x26,0x26,,,,,"Set torque command = 9766" +28111,TX,0x201,3,0x90,0x90,0xF2,0x24,,,,,"Set torque command = 9458" +28137,TX,0x201,3,0x90,0x90,0xD9,0x23,,,,,"Set torque command = 9177" +28163,TX,0x201,3,0x90,0x90,0xAD,0x22,,,,,"Set torque command = 8877" +28189,TX,0x201,3,0x90,0x90,0xA5,0x21,,,,,"Set torque command = 8613" +28215,TX,0x201,3,0x90,0x90,0xA5,0x20,,,,,"Set torque command = 8357" +28241,TX,0x201,3,0x90,0x90,0x8D,0x1F,,,,,"Set torque command = 8077" +28267,TX,0x201,3,0x90,0x90,0x89,0x1E,,,,,"Set torque command = 7817" +28293,TX,0x201,3,0x90,0x90,0xE9,0x1D,,,,,"Set torque command = 7657" +28319,TX,0x201,3,0x90,0x90,0xD9,0x1D,,,,,"Set torque command = 7641" +28345,TX,0x201,3,0x90,0x90,0xD1,0x1D,,,,,"Set torque command = 7633" +28369,TX,0x201,3,0x90,0x90,0xD1,0x1D,,,,,"Set torque command = 7633" +28395,TX,0x201,3,0x90,0x90,0xD1,0x1D,,,,,"Set torque command = 7633" +28421,TX,0x201,3,0x90,0x90,0xC9,0x1D,,,,,"Set torque command = 7625" +28447,TX,0x201,3,0x90,0x90,0x21,0x1E,,,,,"Set torque command = 7713" +28473,TX,0x201,3,0x90,0x90,0xD1,0x1D,,,,,"Set torque command = 7633" +28499,TX,0x201,3,0x90,0x90,0x1D,0x1E,,,,,"Set torque command = 7709" +28525,TX,0x201,3,0x90,0x90,0xC5,0x1D,,,,,"Set torque command = 7621" +28550,TX,0x201,3,0x90,0x90,0xC9,0x1D,,,,,"Set torque command = 7625" +28576,TX,0x201,3,0x90,0x90,0x8D,0x1D,,,,,"Set torque command = 7565" +28602,TX,0x201,3,0x90,0x90,0x6D,0x1D,,,,,"Set torque command = 7533" +28628,TX,0x201,3,0x90,0x90,0x11,0x1D,,,,,"Set torque command = 7441" +28654,TX,0x201,3,0x90,0x90,0x99,0x1C,,,,,"Set torque command = 7321" +28680,TX,0x201,3,0x90,0x90,0x09,0x1C,,,,,"Set torque command = 7177" +28706,TX,0x201,3,0x90,0x90,0x35,0x1B,,,,,"Set torque command = 6965" +28732,TX,0x201,3,0x90,0x90,0x69,0x1A,,,,,"Set torque command = 6761" +28758,TX,0x201,3,0x90,0x90,0xA5,0x19,,,,,"Set torque command = 6565" +28784,TX,0x201,3,0x90,0x90,0xC5,0x18,,,,,"Set torque command = 6341" +28810,TX,0x201,3,0x90,0x90,0xED,0x17,,,,,"Set torque command = 6125" +28836,TX,0x201,3,0x90,0x90,0x05,0x17,,,,,"Set torque command = 5893" +28862,TX,0x201,3,0x90,0x90,0x11,0x16,,,,,"Set torque command = 5649" +28888,TX,0x201,3,0x90,0x90,0x1D,0x15,,,,,"Set torque command = 5405" +28914,TX,0x201,3,0x90,0x90,0x19,0x14,,,,,"Set torque command = 5145" +28940,TX,0x201,3,0x90,0x90,0x19,0x13,,,,,"Set torque command = 4889" +28966,TX,0x201,3,0x90,0x90,0xF0,0x11,,,,,"Set torque command = 4592" +28992,TX,0x201,3,0x90,0x90,0x70,0x11,,,,,"Set torque command = 4464" +29018,TX,0x201,3,0x90,0x90,0xFC,0x10,,,,,"Set torque command = 4348" +29044,TX,0x201,3,0x90,0x90,0xEC,0x10,,,,,"Set torque command = 4332" +29070,TX,0x201,3,0x90,0x90,0xF4,0x10,,,,,"Set torque command = 4340" +29096,TX,0x201,3,0x90,0x90,0xF0,0x10,,,,,"Set torque command = 4336" +29121,TX,0x201,3,0x90,0x90,0xF0,0x10,,,,,"Set torque command = 4336" +29147,TX,0x201,3,0x90,0x90,0xF8,0x10,,,,,"Set torque command = 4344" +29173,TX,0x201,3,0x90,0x90,0xF4,0x10,,,,,"Set torque command = 4340" +29199,TX,0x201,3,0x90,0x90,0xF0,0x10,,,,,"Set torque command = 4336" +29225,TX,0x201,3,0x90,0x90,0xF4,0x10,,,,,"Set torque command = 4340" +29251,TX,0x201,3,0x90,0x90,0xC8,0x10,,,,,"Set torque command = 4296" +29277,TX,0x201,3,0x90,0x90,0x20,0x10,,,,,"Set torque command = 4128" +29305,TX,0x201,3,0x90,0x90,0x30,0x0F,,,,,"Set torque command = 3888" +29331,TX,0x201,3,0x90,0x90,0x68,0x0E,,,,,"Set torque command = 3688" +29357,TX,0x201,3,0x90,0x90,0x28,0x0D,,,,,"Set torque command = 3368" +29383,TX,0x201,3,0x90,0x90,0xBC,0x0B,,,,,"Set torque command = 3004" +29409,TX,0x201,3,0x90,0x90,0x3C,0x0A,,,,,"Set torque command = 2620" +29435,TX,0x201,3,0x90,0x90,0xCC,0x08,,,,,"Set torque command = 2252" +29461,TX,0x201,3,0x90,0x90,0x64,0x07,,,,,"Set torque command = 1892" +29487,TX,0x201,3,0x90,0x90,0xFC,0x05,,,,,"Set torque command = 1532" +29513,TX,0x201,3,0x90,0x90,0xA8,0x04,,,,,"Set torque command = 1192" +29539,TX,0x201,3,0x90,0x90,0x28,0x03,,,,,"Set torque command = 808" +29565,TX,0x201,3,0x90,0x90,0xCC,0x01,,,,,"Set torque command = 460" +29591,TX,0x201,3,0x90,0x90,0x5C,0x00,,,,,"Set torque command = 92" +29617,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29643,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29669,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +29694,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29720,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29746,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29772,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29798,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29824,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29850,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +29877,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29901,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29927,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29953,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +29979,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +30005,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30031,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30057,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30083,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30109,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30135,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +30161,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30187,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30213,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30239,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30265,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30290,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30316,TX,0x201,3,0x90,0x90,0x0C,0x00,,,,,"Set torque command = 12" +30342,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30368,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30394,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30420,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30446,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +30472,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30498,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30524,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30550,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30576,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30602,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30628,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30654,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +30679,TX,0x201,3,0x90,0x90,0x0C,0x00,,,,,"Set torque command = 12" +30705,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30731,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30757,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30783,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30809,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30835,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +30861,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30886,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30912,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30938,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30964,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +30990,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31016,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +31042,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31068,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31094,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31120,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31146,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31172,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31198,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +31224,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31250,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31275,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +31301,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31327,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31353,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31379,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31405,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31431,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +31457,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31483,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31509,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31535,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31561,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +31587,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31613,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31639,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31665,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31691,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31717,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31743,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31769,TX,0x201,3,0x90,0x90,0x24,0x00,,,,,"Set torque command = 36" +31795,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31821,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31847,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31872,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31898,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +31924,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31950,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +31976,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +32002,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32028,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32054,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32079,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32105,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32131,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32157,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32183,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +32209,TX,0x201,3,0x90,0x90,0x10,0x00,,,,,"Set torque command = 16" +32235,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32261,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32287,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +32313,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +32339,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32365,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32391,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32417,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32443,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32468,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32494,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32520,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32546,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32572,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32598,TX,0x201,3,0x90,0x90,0x04,0x00,,,,,"Set torque command = 4" +32624,TX,0x201,3,0x90,0x90,0x08,0x00,,,,,"Set torque command = 8" +32650,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32676,TX,0x201,3,0x90,0x90,0x00,0x00,,,,,"Set torque command = 0" +32682,TX,0x201,3,0x51,0x51,0x04,0x00,,,,,"Lock/Disable drive" diff --git a/ESP32/reciever.py b/ESP32/reciever.py new file mode 100644 index 0000000..010d47f --- /dev/null +++ b/ESP32/reciever.py @@ -0,0 +1,21 @@ +# Import socket module +import socket +import time +# Create a socket object +s = socket.socket() + +# Define the port on which you want to connect +host="192.168.4.1" +port = 80 + +s.connect((host,port)) + +request= b"GET / HTTP/1.1\r\nHost:" + host.encode() + b"\r\n\r\n" + +s.sendall(request) +time.sleep(0.5) +while True: + time.sleep(0.2) + data=s.recv(4096) + print(data.decode()) +print("bruh") \ No newline at end of file diff --git a/ESP32/serial_tester.py b/ESP32/serial_tester.py new file mode 100644 index 0000000..fd8e785 --- /dev/null +++ b/ESP32/serial_tester.py @@ -0,0 +1,9 @@ +import serial + + +s= serial.Serial(port='COM3',baudrate=115200) +data="---START---" +while True: + print("data") + s.write("data".encode()) + print("sent") diff --git a/ESP32/src/main.cpp b/ESP32/src/main.cpp index f07899a..4032626 100644 --- a/ESP32/src/main.cpp +++ b/ESP32/src/main.cpp @@ -1,5 +1,6 @@ #include #include +#include const char* ssid = "ESP32_Hotspot"; const char* password = "12345678"; // must be at least 8 chars @@ -8,20 +9,23 @@ const char* password = "12345678"; // must be at least 8 chars WebServer server(80); // Define what happens when someone visits the root page +String text; void handleRoot() { - server.send(200, "text/html", "

Hello from ESP32!

You’re connected to my Wi-Fi network.

"); + server.send(200, "text/html", ""); + for (int i=0;i<5;i++){ + delay(1000); + server.sendContent(String(i)); + } } void setup() { Serial.begin(115200); delay(1000); - Serial.println("Starting Access Point..."); WiFi.softAP(ssid, password); IPAddress IP = WiFi.softAPIP(); Serial.print("AP IP address: "); Serial.println(IP); - // Define route and start server server.on("/", handleRoot); server.begin(); From 9f1dd0815171e08c72f618361dcf228b93e08d30 Mon Sep 17 00:00:00 2001 From: megamim247 <126881780+megamim247@users.noreply.github.com> Date: Tue, 28 Oct 2025 19:14:34 +0000 Subject: [PATCH 2/3] Serial-To-Wifi functional --- ESP32/reciever.py | 2 +- ESP32/serial_tester.py | 8 +++++--- ESP32/src/main.cpp | 13 ++++++++++--- 3 files changed, 16 insertions(+), 7 deletions(-) diff --git a/ESP32/reciever.py b/ESP32/reciever.py index 010d47f..1baedae 100644 --- a/ESP32/reciever.py +++ b/ESP32/reciever.py @@ -15,7 +15,7 @@ s.sendall(request) time.sleep(0.5) while True: - time.sleep(0.2) + time.sleep(0.1) data=s.recv(4096) print(data.decode()) print("bruh") \ No newline at end of file diff --git a/ESP32/serial_tester.py b/ESP32/serial_tester.py index fd8e785..5a3ce97 100644 --- a/ESP32/serial_tester.py +++ b/ESP32/serial_tester.py @@ -1,9 +1,11 @@ import serial - +import time s= serial.Serial(port='COM3',baudrate=115200) data="---START---" +count=0 while True: + count+=1 print("data") - s.write("data".encode()) - print("sent") + s.write(b"data:" +str(count).encode()+b"\r\n") + time.sleep(0.1) diff --git a/ESP32/src/main.cpp b/ESP32/src/main.cpp index 4032626..23a8632 100644 --- a/ESP32/src/main.cpp +++ b/ESP32/src/main.cpp @@ -11,10 +11,17 @@ WebServer server(80); // Define what happens when someone visits the root page String text; void handleRoot() { + WiFiClient client = server.client(); server.send(200, "text/html", ""); - for (int i=0;i<5;i++){ - delay(1000); - server.sendContent(String(i)); + Serial.println("connected"); + while (client.connected()){ + delay(100); + if(Serial.available()){ + text=Serial.readStringUntil('\n'); + server.sendContent(text); + }else{ + server.sendContent("aint working bruh"); + } } } From 84b682c2942ae718cbe07ef6ddf1a25773d907b9 Mon Sep 17 00:00:00 2001 From: megamim247 <126881780+megamim247@users.noreply.github.com> Date: Tue, 28 Oct 2025 19:22:51 +0000 Subject: [PATCH 3/3] final --- ESP32/src/main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ESP32/src/main.cpp b/ESP32/src/main.cpp index 23a8632..37cacf4 100644 --- a/ESP32/src/main.cpp +++ b/ESP32/src/main.cpp @@ -1,7 +1,7 @@ #include #include #include - +//random comment to test git const char* ssid = "ESP32_Hotspot"; const char* password = "12345678"; // must be at least 8 chars