File content as of revision 5:6f30b4ea4020:

//Instruction Set
#define PING         0x01
#define READ_DATA    0x02
#define WRITE_DATA   0x03

//CONTROL TABLE
#define SET_ID                 0x00
#define SET_MOTOR_UPPER_ANG    0x01
#define SET_MOTOR_LOWER_ANG    0x02
#define SET_MARGIN             0x03
#define SET_KP_UPPER_MOTOR     0x04
#define SET_KI_UPPER_MOTOR     0x05
#define SET_KD_UPPER_MOTOR     0x06
#define SET_KP_LOWER_MOTOR     0x07
#define SET_KI_LOWER_MOTOR     0x08
#define SET_KD_LOWER_MOTOR     0x09
#define SET_HEIGHT             0x0A
#define SET_WHEELPOS           0x0B
#define SET_MAG_X_MAX          0x0C
#define SET_MAG_Y_MAX          0x0D
#define SET_MAG_Z_MAX          0x0E
#define SET_MAG_X_MIN          0x0F
#define SET_MAG_Y_MIN          0x10
#define SET_MAG_Z_MIN          0x11
#define SET_OFFSET_Y           0x12
#define SET_OFFSET_Z           0x13
#define SET_BODY_LENGTH        0x14
#define SET_MAX_ANGLE          0x15
#define SET_MIN_ANGLE          0x16


#define GET_MOTOR_UPPER_ANG    0x32
#define GET_MOTOR_LOWER_ANG    0x33
#define GET_MARGIN             0x34
#define GET_KP_UPPER_MOTOR     0x35
#define GET_KI_UPPER_MOTOR     0x36
#define GET_KD_UPPER_MOTOR     0x37
#define GET_KP_LOWER_MOTOR     0x38
#define GET_KI_LOWER_MOTOR     0x39
#define GET_KD_LOWER_MOTOR     0x3A
#define GET_HEIGHT             0x3B
#define GET_WHEELPOS           0x3C
#define GET_MAG_X_MAX          0x3D
#define GET_MAG_Y_MAX          0x3E
#define GET_MAG_Z_MAX          0x3F
#define GET_MAG_X_MIN          0x40
#define GET_MAG_Y_MIN          0x41
#define GET_MAG_Z_MIN          0x42
#define GET_OFFSET_Y           0x43
#define GET_OFFSET_Z           0x44
#define GET_BODY_LENGTH        0x42
#define GET_MAX_ANGLE          0x43
#define GET_MIN_ANGLE          0x44