o jj& @s UdZddlmZidddddddd d d d d d ddddddddddddddddddd d!d"id#d$d%d&d'dd(dd)d*d+d,d-d.d/d0d1d2d3d4d5d d6dd7d&d8d9d:d;did?d@dAdBdCdDdEdFdGdHdIdJdKdLdMd,dNdOdPdQdRdSdTdUdVdWdXd dYdZd[d\d]d^id_d`dadbdcd,ddddedfdgdhdidjdkdZdldmdnd dodpdqddrdsdtdudvddwddxdyidzdQd{d|d}d~dddddddddddddd"ddddddsdddddddd"idddddddd dddddddddddddddd ddZddddddddiddddddddddddddddddddddddddddÓddÓddddiddZdddddddd̓dddddddd^ddғddԓdd֓dd`ddٓddۓddddidd$dddd$ddddddWdddddddd ddddddddddddddidddddddddddddddddddddd d d d d dd̓dddddd~iddddddddddddddd d!d"dOd#d$d%d.d&d'd(d)d*d+d,d$d-dd.d/id0d/d1d4d2d4d3dd4d0d5d0d6dd7dd8d2d9d2d:d;dd?d@dAddBdOdCdidDdEdFdEdGddHddIdJdKddLddMdNdOdQdPddQd/dRdSdTdUdVdWdXd dYddZdid[d$d\dd]d^d_d*d`dEdadEdbdcddddeddfdٓdgddhdidjddkdÓdlddmdidndoidpd$dqddrdidsddtdudvdsdwddxd$dydzd{dd|d&d}d"d~d"dddd ddddiddddZddddddQddddddddddddddddddddddddiddddddddmdddddddddddddddd dddddddd dd idddddddd“dddddddddd,dd,dɐdʓdːdcd̐dcd͐dodΐddddddѐdddӐdԐdՐdd֜Zded<d&ddddڜZded<GdݐdބdeZddddZdS(a Numeric codes for Roboteq serial command constants (the `_XXX` names used as the first argument to GetValue/SetCommand/GetConfig/SetConfig). Two tiers of confidence here: 1. **Bytecode-confirmed** (the highest bar): decoded directly from real RoborunPlus-compiled `.hex` output. _VAR = 6 (batch 4, GetValue and SetCommand) _ALIM = 42 (0x2A) (batch 4, GetConfig/SetConfig) _MS = 16 (0x10) (batch 6, SetCommand) _GO = 0 (batch 6, SetCommand) _ESTOP = 14 (0x0E) (batch 6, SetCommand) _AI = 16 (0x10) (batch 6, GetValue) _BATAMPS = 12 (0x0C) (batch 6, GetValue) _MOTAMPS = 0 (batch 6, GetValue) _MOTPWR = 2 (batch 6, GetValue) _V = 13 (0x0D) (batch 6, GetValue) _D0 = 11 (0x0B) (onoff.mbs, 2026-07-29, SetCommand -- corrects the manual-sourced guess of 9 below, which was apparently confused with _DOUT's own code. _D1 = 10 (0x0A) was independently confirmed correct by the same diff.) 2. **Manual-sourced** (everything else below): read directly from the "HexCode:" field documented for each command/query/config parameter in *Roboteq Controllers User Manual*, V2.1. All 10 bytecode-confirmed values above also appear in the manual and match exactly -- strong evidence the manual's HexCode field is what actually goes on the wire, so the other ~300 values it documents are trusted here even though they haven't each been individually diffed against a compiled `.hex` file. Extraction notes (see `docs/reverse_engineering.md` for the full writeup): - A handful of aliases were dropped because the manual itself has copy-paste errors: some later sections reuse an earlier section's `Syntax Scripting` example without updating the `_XXX` name to match that section's own declared alias (e.g. the `CU` command's example says `setcommand(_CS, ...)` -- copied from the preceding `CS` section and never fixed). Where a section's own alias doesn't match the `_XXX` name in its own example, that example was discarded rather than trusted. - The DS402 (CANopen motion-profile) command/query sections were excluded entirely. That's a separate operating profile from plain serial MicroBasic scripting and several of its aliases collide with unrelated classic-mode codes for the same short name (e.g. a DS402-only `MOTVEL` variant using a different HexCode than the classic `S` command's `_MOTVEL`) -- since a MicroBasic script on this hardware isn't running in DS402 mode, the classic definition is what applies, and the DS402 duplicate would just be wrong here. - `_BRUN` and `_CSS` (and only these two, once the above two rules are applied) turned out to genuinely mean different things depending on the verb: `_BRUN` is HexCode `0x0C` as a `SetCommand` (start/stop/restart the running script) but `0x48` as a `SetConfig` (enable auto-start on power up) -- two unrelated parameters that happen to share an alias. `_CSS` is `0x6C` to `SetCommand` (load an SSI counter) and `0x6E` to `GetValue` (read it back) -- related but still separately numbered. These are handled by `VERB_SPECIFIC_CODES` below and checked before the flat table. Command names are matched case-insensitively, without the leading underscore (the parser strips it before lookup). ) annotationsaabcntrabspeedacaccelacs actradbaiaic#ainaalim*alinamaxamaxaaminaminaamodams anainanaincangBapolasi3atga,atgd-atrig+axbbabadj`badvabatampsbdtbeccbeedbfbkcbhl>bhla@bhome<bhvbindbkdblcntrblfb;bll=blla?blrspeedblspeed blstd:bmcLbmfMbmod_bndboolbpol9bprbrvbsbscPbsrbzpwbccalive&can'cangocansendcasZcbcbrXcdcenVcf(cgchbYchlachsciacipcisclclerd8clin clsn[cmdanacmdplscmdsercnodWcpricrcscsrmcsrt\ctps]cttpdd0d1dcddtdeceldfcdhcpodidigindigoutdindinadinldmoddodoadoldout dpandr"dreacheddresdsdsetdxeechofedeceeeeseesavehlehlaNehomeOellKellaemodIepprJestopexffcGfeedbkfffidfinfltflagflw{fm0fsfsaggidgiqzgogwaihhomehpohs1hsathsensehsmicap2iclFillrilmipahippkirrismk!kdgkifkigkpfkpgldlklockedlperrlqmma%macmdalmdec4mdirwmemsmgmgd)mgdetmgmmgmrkrmgomgsmgstatusmgtmgtrackmgymgyromlxmmodmnodmnrpmmotampsmotcmdmotflagmotposmotpwrmotvelmposrelmpwmsmstopmvel5mxmdmxpfmxprmxrpm6mxsmxtrn7nxtaccnxtdecnxtposnxtposrnxtvelotlovhovlppctr pdbpdnsphapipic$pinaplinplsinplsincpmaxpmaxapminpminapmodpmsppolprprxpsapxrrcrcoutrelcntrrelspeedrfcrsrs485rsbrrwdssblcntrsbmjsccEscprsdnssecsedsencntrshlshlashomeskctrSskdbTsklinUskmaxRskminQskuseslHsllsllasmodsnayspektrumspolAsrsro^ssssfssrstflagstosttsvtswdsxttemptidtimetmtnmtrtracktrnuiduvlvg)varvkvoltsvphwmodzsmazsmczdict[str, int] COMMAND_CODESl))brun setcommand)r setconfig)cssr)rgetvaluezdict[tuple[str, str], int]VERB_SPECIFIC_CODEScseZdZdfdd ZZS)UnknownCommandErrornamestrcs(td|dttd||_dS)Nz#Unknown Roboteq command constant '_z'. See commands.py (z& known constants) for how to add more.)super__init__lenrr)selfr __class__P/sessions/funny-vibrant-bardeen/mnt/compiler/src/microbasic_compiler/commands.pyrs  zUnknownCommandError.__init__)rr)__name__ __module__ __qualname__r __classcell__rrrrrsrNrrverb str | NonereturnintcCsF|d}|dur||ftvrt||fS|tvrt|t|S)aBname includes the leading underscore, e.g. '_ALIM'. verb, when given, is the lowercase device-I/O function name the constant is being passed to ('getvalue', 'setcommand', 'getconfig', 'setconfig') -- only relevant for the handful of aliases in VERB_SPECIFIC_CODES that mean different things per verb. _N)lstriplowerrrr)rrkeyrrrresolve_command_codes  r)N)rrrrrr) __doc__ __future__rr__annotations__r Exceptionrrrrrrs >      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./012345C