DATA TYPE

FB, Means Firmata Byte, Each FB = 7bits Byte

Type	Short Name	Range	Bits	Actual Bytes
1FB Byte	1FB Byte	0 ~ 127	7	1
2FB unsigned Integer	2FB uint	0 ~ 16383	14	2
3FB Integer	3FB int	-16383 ~ 16383	15	3
3FB Float	3FB float	0.00 ~ 16383.99	21	3
4FB Float	4FB float	-16383.99 ~ 16383.99	22	4
----------------—	-	:---------------—:	:---—:	:—:

DATA TYPE - 1FB Byte

1FB byte = bytes[0]

Sequence | Range | Remark -------— | :--—: | ---— 0 | 0 ~ 127 | -------— | :--—: | ---—

DATA TYPE - 2FB uint

2FB unit = bytes[0] + bytes[1]<<7

Sequence	Range	Remark
0	0 ~ 127	MSB
1	0 ~ 127	LSB
-----—	:--—:	---—

DATA TYPE - 3FB int

3FB int = (bytes[0]==0 ? 1 : -1) * (bytes[1] + bytes[2]<<7)

Sequence	Range	Remark
0	0 or 1	Negative - 1
1	0 ~ 127	MSB
2	0 ~ 127	LSB
-----—	:--—:	---------—

DATA TYPE - 3FB float

3FB Float = bytes[0] + bytes[1]<<7 + bytes[2]/100.00

Sequence	Range	Remark
0	0 ~ 127	Integer MSB
1	0 ~ 127	Integer LSB
2	0 ~ 99	Decimal Val
-----—	:--—:	---------—

DATA TYPE - 4FB float

4FB Float = (bytes[0]==0 ? 1 : -1) * (bytes[1] + bytes[2]<<7 + bytes[3]/100.00)

Sequence	Range	Remark
0	0 or 1	Negative - 1
1	0 ~ 127	Integer MSB
2	0 ~ 127	Integer LSB
3	0 ~ 99	Decimal Val
-----—	:--—:	---------—

Protocol Request Message Type

Type	Command	Data	Total Bytes	Remark
UARM_CODE	0xAA	N/A	1	UARM First Level Command
Type	Command	Data	Total Bytes	Remark
—	—	—	—	—
READ_ANGLE	0x10	1fb Byte X2	6	Return Servo Angle from uArm
WRITE_ANGLE	0x11	1fb Byte X1 + 3fb Float X1	9	Write Servo Angle to uArm
READ_COORDS	0x12		4	Read Coordinate from uArm
WRITE_COORDS	0x13	4fb Float X5 + 1fb Byte X3	27	Move uArm to the Coordinate
READ_DIGITAL	0x14	1fb Byte X2	6	Read Digital from uArm
WRITE_DIGITAL	0x15	1fb Byte X2	6	Write Digital to uArm
READ_ANALOG	0x16	1fb Byte	5	Read Analog from uArm
WRITE_ANALOG	0x17	1fb Byte + 4b Float	9	Write Analog to uArm
READ_EEPROM	0x1A	1fb Byte + 2b uint	7	Read the value from EEPROM
WRITE_EEPROM	0x1B	1fb Byte + 2b uint + 2b uint/3b int/4b float	9/10/11	Write the value to EEPROM
DETACH_SERVO	0x1C	0	4	Detach All Servo
PUMP_STATUS	0x1D	1fb Byte	5	Control Pump
GRIPPER_STATUS	0x20	1fb Byte	5	Control Gripper
WRITE_STRETCH	0x1E	4b Float X2	12	Move uArm to Position with Stretch and Height
WRITE_LEFT_RIGHT_ANGLE	0x1F	3b Float X2	10	Write Left & Right Servo Angle
READ_SERIAL_NUMBER	0x21	0	4	Read Serial Number from EEPROM
WRITE_SERIAL_NUMBER	0x22	1fb Byte X14	18	Write Serial Number from EEPROM
REPORT_LIBRARY_VERSION	0x23	0	4	Report uArm Library Version

Request READ_ANGLE Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_ANGLE | 0x10 | 1 | 4 | Servo Number | 0/1/2/3 | 1 | SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM 5 | with Offset | 0/1 | 1 | 0 False, 1 True 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 6 | ---------------------------------------------------------------—

Request WRITE_ANGLE Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | -----------------------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_ANGLE | 0x11 | 1 | 4 | Servo Number | 0/1/2/3 | 1 | SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM 5 | Servo Angle | 0.00 - 16383.99 (3b Float) | 3 | 6 | with Offset | 0/1 | 1 | 0 False, 1 True 7 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 9 | ---------------------------------------------------------------—

Request READ_COORDS Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0x12 | 1 | 3 | READ_COORDS | 0x10 | 1 | 4 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 4 | ---------------------------------------------------------------—

Request WRITE_COORDS Message

Sequence | Type | Command/Data | Bytes | Remark -----— | -----------— | ----------------------------— | --— | -------------------------------------------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_COORDS | 0x13 | 1 | 4 | X Axis | -16383.99 - 16383.99 (4b Float) | 4 | 5 | Y Axis | -16383.99 - 16383.99 (4b Float) | 4 | 6 | Z Axis | -16383.99 - 16383.99 (4b Float) | 4 | 7 | Hand Axis | -16383.99 - 16383.99 (4b Float) | 4 | 8 | relative_flags | 0/1 | 1 | 0 relative, 1 absolute 9 | time_spend | -16383.99 - 16383.99 (4b Float) | 4 | 10 | path_type | 0/1 | 1 | 0 PATH_LINEAR, 1 PATH_ANGLES 11 | ease_type | 0/1 | 1 | 0 PATH_LINEAR, 1 PATH_ANGLES 12 | END_SYSEX | 0xF7 | 1 | 0 INTERP_EASE_INOUT_CUBIC, 1 INTERP_LINEAR, 2 INTERP_EASE_INOUT, 3 INTERP_EASE_IN, 4 INTERP_EASE_OUT -----— | ---------— | ---------— | 27 | ---------------------------------------------------------------—

Request READ_DIGITAL Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_DIGITAL | 0x14 | 1 | 4 | pin number | 0-127 | 1 | Pin Number 5 | pin mode | 0/1 | 1 | 0 INPUT, 1 PULL_UP 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 6 | ---------------------------------------------------------------—

Request WRITE_DIGITAL Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ----------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_DIGITAL | 0x15 | 1 | 4 | pin number | 0-127 | 1 | Pin Number 5 | Value | 0/1 | 1 | 0 LOW, 1 HIGH 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 6 | ---------------------------------------------------------------—

Request READ_ANALOG Message

Sequence | Type | Command/Data | Bytes | Remark -----— | --------------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_ANALOG | 0x16 | 1 | 4 | ANALOG PIN NUMBER | 0 - 127 | 1 | 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 6 | ---------------------------------------------------------------—

Request WRITE_ANALOG Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ------------------------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_ANALOG | 0x17 | 1 | 4 | PIN Number | 0 - 127 | 1 | 5 | Analog | 0 - 16383 (2b unsigned int) | 2 | 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 8 | ---------------------------------------------------------------—

Request READ_EEPROM Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_EEPROM | 0x1A | 1 | 4 | DATA TYPE | 1/2/4 | 1 | DATA_TYPE_BYTE -1 , DATA_TYPE_INTEGER -2 , DATA_TYPE_FLOAT -4 5 | ADDRESS | 0 - 16383 | 2 | 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 7 | ---------------------------------------------------------------—

Request WRITE_EEPROM Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ------------------------------— | ----— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_EEPROM | 0x1B | 1 | 4 | DATA TYPE | 1/2/4 | 1 | DATA_TYPE_BYTE -1 , DATA_TYPE_INTEGER -2 , DATA_TYPE_FLOAT -4 5 | ADDRESS | 0 - 16383 | 2 | 6 | Data | 2b unsigned int/ 3b int/ 4b Float | 2/3/4 | 7 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 9/10/11 | ---------------------------------------------------------------—

Request DETACH_SERVO Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | DETACH_SERVO | 0x1C | 1 | 4 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 4 | ---------------------------------------------------------------—

Request PUMP_STATUS Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | PUMP_STATUS | 0x1E | 1 | 4 | data | 0/1 | 1 | 0 Off, 1 On 5 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 5 | ---------------------------------------------------------------—

Request GRIPPER_STATUS Message

Sequence | Type | Command/Data | Bytes | Remark -----— | -----------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | GRIPPER_STATUS | 0x20 | 1 | 4 | data | 0/1 | 1 | 0 Release, 1 Catch 5 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 5 | ---------------------------------------------------------------—

Request WRITE_STRETCH Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ----------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_STRETCH | 0x1E | 1 | 4 | STRETCH | 4b float | 4 | 5 | HEIGHT | 4b float | 4 | 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 12 | ---------------------------------------------------------------—

Request WRITE_LEFT_RIGHT_ANGLE Message

Sequence | Type | Command/Data | Bytes | Remark -----— | -------------------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_LEFT_RIGHT_ANGLE | 0x1F | 1 | 4 | LEFT_ANGLE | 3b float | 3 | 5 | RIGHT_ANGLE | 3b float | 3 | 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 10 | ---------------------------------------------------------------—

Request READ_SERIAL_NUMBER Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_SERIAL_NUMBER | 0x21 | 1 | 4 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 4 | ---------------------------------------------------------------—

Request WRITE_SERIAL_NUMBER Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ----------------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | WRITE_SERIAL_NUMBER | 0x22 | 1 | 4 | DATA | 1fb Byte X14 | 14 | ASCII code 5 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 18 | ---------------------------------------------------------------—

Request REPORT_LIBRARY_VERSION Message

Sequence | Type | Command/Data | Bytes | Remark -----— | -------------------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | REPORT_LIBRARY_VERSION | 0x23 | 1 | 4 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 4 | ---------------------------------------------------------------—

Protocol RESPONSE Message Type

Type	Command	Data	Total Bytes	Remark
UARM_CODE	0xAA	N/A	1	UARM First Level Command
Type	Command	Data	Total Bytes	Remark
—	—	—	—	—
READ_ANGLE	0x10	3fb Float	7	Return Servo Angle from uArm
READ_COORDS	0x12	4fb Float X3	12	Read Coordinate from uArm
READ_DIGITAL	0x14	1fb Byte X2	6	Read Digital from uArm
READ_ANALOG	0x16	1fb Byte X3	7	Read Analog from uArm
READ_EEPROM	0x1A	1fb Byte + 2fb uint + 2fb uint/3fb Float/4fb Float	9/10/11	Read the value from EEPROM
REPORT_LIBRARY_VERSION	0x23	1fb Byte X3	4	Report uArm Library Version

Response READ_ANGLE Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_ANGLE | 0x10 | 1 | 4 | SERVO NUMBER | 0/1/2/3 | 1 | SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM 5 | SERVO ANGLE | 3fb float | 3 | 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 8 | ---------------------------------------------------------------—

Response READ_COORDS Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_COORDS | 0x12 | 1 | 4 | X Axis | 4fb floats | 4 | 5 | Y Axis | 4fb floats | 4 | 6 | Z Axis | 4fb floats | 4 | 7 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 16 | ---------------------------------------------------------------—

Response READ_DIGITAL Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_DIGITAL | 0x14 | 1 | 4 | PIN NUMBER | 0 - 127 | 1 | 5 | VALUE | 0/1 | 1 | HIGH : 1, LOW : 0 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 6 | ---------------------------------------------------------------—

Response READ_ANALOG Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_ANALOG | 0x16 | 1 | 4 | PIN NUMBER | 0 - 127 | 1 | 5 | ANALOG VALUE | 0 - 16383 | 2 | 6 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 7 | ---------------------------------------------------------------—

Response READ_EEPROM Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------— | ----------------------— | ----— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_EEPROM | 0x1A | 1 | 4 | DATA TYPE | 1/2/4 | 1 | BYTE: 1, INTEGER: 2, FLOAT: 4 5 | ADDRESS | 0 - 16383 | 2 | 6 | DATA | 1fb Byte/3b int/4fb Float | 2/3/4 | 7 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 9/10/11 | ---------------------------------------------------------------—

Response READ_SERIAL_NUMBER Message

Sequence | Type | Command/Data | Bytes | Remark -----— | ---------------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | READ_SERIAL_NUMBER | 0x21 | 1 | 4 | DATA | 1fb Byte X14 | 14 | 5 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 18 | ---------------------------------------------------------------—

Response REPORT_LIBRARY_VERSION Message

Sequence | Type | Command/Data | Bytes | Remark -----— | -------------------— | ---------— | --— | ---------------------------------------------------------------— 1 | START_SYSEX | 0xF0 | 1 | 2 | UARM_CODE | 0xAA | 1 | 3 | REPORT_LIBRARY_VERSION | 0x23 | 1 | 4 | DATA | 1fb Byte X3 | 3 | MAJOR Version, MINOR Version, BUGFIX 5 | END_SYSEX | 0xF7 | 1 | -----— | ---------— | ---------— | 7 | ---------------------------------------------------------------—