If the mode byte is 0-3, the mode is standard movement. In this state, the contents of the packet are as shown in Table 4-4.
| Name | Size |
|---|---|
| Mode | 1 byte |
| Distance | 2 bytes |
| Target Speed | 1 byte |
| X Speed | 3 bytes |
| Y Speed | 3 bytes |
The mode byte of this transmission is in the range 0x00 to 0x03, or 0b00
to 0b11. The two bits are used to indicate if travel in each axis is
positive (1) or negative (0), with x taking the least
significant bit. For example, if the command is to go in the negative direction in x and
the positive direction in y, the command will be 0b10 or 0x02.
The distance byte indicates how long to travel for, from the perspective of the master NCO.
Target speed is the index of the target speed in the acceleration LUT.
X and Y speed are the increment values of the X and Y slave NCOs, calculated as described in NCO Divisor.