File content as of revision 0:fc963e08d580:

//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                 0x04
#define SET_KI                 0x05
#define SET_KD                 0x06
#define SET_HEIGHT             0x07
#define SET_WHEELPOS           0x08
#define SET_MAG_X_MAX          0x09
#define SET_MAG_Y_MAX          0x0A
#define SET_MAG_Z_MAX          0x0B
#define SET_MAG_X_MIN          0x0C
#define SET_MAG_Y_MIN          0x0D
#define SET_MAG_Z_MIN          0x0E
#define SET_OFFSET_Y           0x0F
#define SET_OFFSET_Z           0x10
#define SET_BODY_LENGTH        0x11
#define SET_MAX_ANGLE          0x12
#define SET_MIN_ANGLE          0x13


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