File content as of revision 11:b34eababcf56:

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

//CONTROL TABLE
#define ID                 0x00
#define MOTOR_UPPER_ANG    0x01
#define MOTOR_LOWER_ANG    0x02
#define UP_MARGIN          0x03
#define LOW_MARGIN         0x04
#define KP_UPPER_MOTOR     0x05
#define KI_UPPER_MOTOR     0x06
#define KD_UPPER_MOTOR     0x07
#define KP_LOWER_MOTOR     0x08
#define KI_LOWER_MOTOR     0x09
#define KD_LOWER_MOTOR     0x0A
#define PID_UPPER_MOTOR    0x0B
#define PID_LOWER_MOTOR    0x0C
#define HEIGHT             0x0D
#define WHEELPOS           0x0E
#define MAG_DATA           0x0F
#define OFFSET             0x10
#define BODY_WIDTH         0x11
#define ANGLE_RANGE_UP     0x12
#define ANGLE_RANGE_LOW    0x13
#define UP_LINK_LENGTH     0x14
#define LOW_LINK_LENGTH    0x15
#define SAVE_EEPROM_DATA   0x16