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Command	Argument	Done?	Full Name	Function	Example	Returns	Return Description	Return Formula
MxFyy	00-99	Yes	Motor x Forward	Go Forward 0-99 on the throttle input	M5F02\n
MxRyy	00-99	Yes	Motor x Reverse	Go Reserve 0-99 on the throttle input	M3R45\n
MSAdyydyydyydyydyydyydyydyy	00-99	Yes	Motor Set All	Set all motors speed	MSAF45F12F31R32R10R15F20F25
STP	N/A	Yes	Stop All	Stop all the motors regardless of anything	STP\n	ACK\r\n
SMx	N/A	Yes	Stop x	Stop motor x	SM2\n	ACK\r\n
RVx	N/A	Yes	Revolutions on motor x	Revolutions per second on motor x measured by the system	RV2\n	aaaaa\r\n	Number is formatted in ASCII
RVA	N/A	Yes	Revolution per second on all motors	Revoultions per second on all motors given sequentially (same as: RV1, RV2, RV3)	RVA\n	################\r\n	Every two numbers correspond to one motor starting at 1 going to 8 in LSB first	RPM1 = (x0 |(x1 << 8)) RPM8 = (x14 | (x15 << 8))
PWxyyy	000-999	No	Pulse Width Modulate x	Set drive PWM dutycycle (Recommended to use MxF or MxR)	PW305\n
RID	N\A	Yes	Return ID	Returns the systems ID identifying what it is	RID\n	Motor Controller\r\n
TMP	N/A	Returns test value	Return Temperature	Returns the reading from the temperature sensor	TMP\n	##	Returned bytes are LSB and unsigned	temperature = (x/10) - 273.15
TMH	N/A	Returns test value	Return Temperature, output ASCII	Returns the reading from the temperature sensor in ASCII	TMH\n	saaa.a	Returned bytes are in ASCII. s is either a positive or negative sign depending on temperature
HUM	N/A	Returns test value	Return Relative Humidity	Returns the humidity reading from the temperature sensor	HUM\n	#	Returned byte is LSB and unsigned. Should never be higher then 100	RH = x
HUH	N/A	Returns test value	Return Relative Humidity, output ASCII	Returns the humidity reading from the temperature sensor in ASCII	HUH\n	aaa	Return bytes are in ASCII
MCx	N/A	Yes	Motor Current x	Return motor current x	MC3	aa.aaa	Current is returned in mA and is already in ASCII
MCA	N/A	Yes	Get all motor currents	Return all motor current	MCA\n	################\r\n	Current is returned in mA	MC1 = (x0 |(x1 << 8)) MC8 = (x14 | (x15 << 8))
TMx	N/A	Yes	Motor Temperature x	Return motor temperature x	TM3\n	aaa.aaa	Current is returned in C and is already in ASCII. First character will be a plus or minus
TMA	N/A	Yes	Get all motor temperatures	Return all motor temperatures	TMA\n	################\r\n	Temperature is returned in 1/10 a degree kelvin. LSB order	Temperature Motor 1 = ((x0 |(x1 << 8))/10 - 273.15) Temperature Motor 8 = ((x14 | (x15 << 8))/10 -273.15)
SCH	N/A	Returns test value	Get system current, output in ascii	Return system current in human readable form	SCH\n	aaa.aaa	Current is returned in Amps and is already in ASCII
SCM	N/A	Returns test value	Get system current in machine form	System current in machine format	SCM\n	###\r\n	Current is returned in mA. LSB order
WTR	N/A	Yes	Return Water Sensor	Returns the reading from water sensor	WTR\n	##\r\n	Returns raw ADC values between 0 to 4095
WTH	N/A	Yes	Return Water Sensor in Human Readable Form	Returns the reading from water sensor in ascii	WTH\n	aaaaa\r\n	Returns values from 0 to 4095
PIM	N/A	Return test value	Return Internal Pressure	Returns the reading from the internal/main housing pressure sensor	PIN\n	###\r\n	Pressure in millibar = RETURN_VALUE * 10^(-2)
PIH	N/A	Returns test value	Return Internal Pressure, output in ASCII	Returns the reading from the internal/main housing pressure sensor	PIN\n	aaaaa.aa\r\n	Pressure in milliBar

Note:

'x' = Motor number (1 - 8)

'y' = Argument (one byte)

'd' = Direction (F or R)

'#' = One byte

'a' = byte returned in ascii format