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Defines
#define	ACTION 0x05
#define	BROADCAST_ID 0xFE
#define	BROADCAST_PACKET_TYPE 0x01
#define	CURRENT_MODE 2
#define	CURRENT_POS_AND_SPEED_MODE 14
#define	DEFAULT_3MXL_ID_1 0x64
#define	DEFAULT_3MXL_ID_2 0x65
#define	EXTERNAL_INIT 7
#define	HOME_SWITCH_AND_INDEX_INIT 13
#define	INDEX_INIT 6
#define	JOINT_TYPE_ARM 0x02
#define	JOINT_TYPE_DIRECTDRIVE 0x04
#define	JOINT_TYPE_GRIPPER 0x03
#define	JOINT_TYPE_LINEAR 0x06
#define	JOINT_TYPE_PASSIVE 0x07
#define	JOINT_TYPE_SEA 0x05
#define	JOINT_TYPE_UNKNOWN 0x0A
#define	JOINT_TYPE_WHEEL 0x01
#define	LAST_MESSAGE_ADDRESS 0xB1
#define	LAST_MESSAGE_LENGTH 0xB2
#define	M3XL_ACQUIRE_INDEX_POSITION 0xBA
#define	M3XL_ACTION_BUSY 0x00
#define	M3XL_ACTION_DONE 0xFF
#define	M3XL_ANA1_VOLTAGE_H 0xC7
#define	M3XL_ANA1_VOLTAGE_L 0xC6
#define	M3XL_ANA2_VOLTAGE_H 0xC9
#define	M3XL_ANA2_VOLTAGE_L 0xC8
#define	M3XL_ANA3_VOLTAGE_H 0xCB
#define	M3XL_ANA3_VOLTAGE_L 0xCA
#define	M3XL_ANA4_VOLTAGE_H 0xCD
#define	M3XL_ANA4_VOLTAGE_L 0xCC
#define	M3XL_ANGLE_H 0x67
#define	M3XL_ANGLE_L 0x66
#define	M3XL_ANGLE_LIMIT_ERROR 0b00000010
#define	M3XL_ANGULAR_RATE_H 0x69
#define	M3XL_ANGULAR_RATE_L 0x68
#define	M3XL_BAUD_RATE_H 0x34
#define	M3XL_BAUD_RATE_L 0x32
#define	M3XL_BAUD_RATE_M 0x33
#define	M3XL_BUS_VOLTAGE_H 0xC3
#define	M3XL_BUS_VOLTAGE_L 0xC2
#define	M3XL_CCW_JOINT_ANGLE_LIMIT_H 0x59
#define	M3XL_CCW_JOINT_ANGLE_LIMIT_L 0x58
#define	M3XL_CCW_MOTOR_ANGLE_LIMIT_H 0x4D
#define	M3XL_CCW_MOTOR_ANGLE_LIMIT_L 0x4C
#define	M3XL_CHECKSUM_ERROR 0b00010000
#define	M3XL_CONTROL_MODE 0x36
#define	M3XL_CURRENT_H 0x63
#define	M3XL_CURRENT_L 0x62
#define	M3XL_CW_JOINT_ANGLE_LIMIT_H 0x57
#define	M3XL_CW_JOINT_ANGLE_LIMIT_L 0x56
#define	M3XL_CW_MOTOR_ANGLE_LIMIT_H 0x4B
#define	M3XL_CW_MOTOR_ANGLE_LIMIT_L 0x4A
#define	M3XL_D_CURRENT_H 0x75
#define	M3XL_D_CURRENT_L 0x74
#define	M3XL_D_ENERGY_H 0xC7
#define	M3XL_D_ENERGY_L 0xC6
#define	M3XL_D_POSITION_H 0x8B
#define	M3XL_D_POSITION_L 0x8A
#define	M3XL_D_SPEED_H 0x95
#define	M3XL_D_SPEED_L 0x94
#define	M3XL_D_TORQUE_H 0x9F
#define	M3XL_D_TORQUE_L 0x9E
#define	M3XL_DATA_LOGGER 0xC1
#define	M3XL_DESIRED_ACCEL_H 0x81
#define	M3XL_DESIRED_ACCEL_L 0x80
#define	M3XL_DESIRED_ANGLE_H 0x83
#define	M3XL_DESIRED_ANGLE_L 0x82
#define	M3XL_DESIRED_ANGULAR_ACCEL_H M3XL_DESIRED_ACCEL_H
#define	M3XL_DESIRED_ANGULAR_ACCEL_L M3XL_DESIRED_ACCEL_L
#define	M3XL_DESIRED_ANGULAR_RATE_H M3XL_DESIRED_SPEED_H
#define	M3XL_DESIRED_ANGULAR_RATE_L M3XL_DESIRED_SPEED_L
#define	M3XL_DESIRED_CURRENT_H 0x71
#define	M3XL_DESIRED_CURRENT_L 0x70
#define	M3XL_DESIRED_LINEAR_ACCEL_H 0xAE
#define	M3XL_DESIRED_LINEAR_ACCEL_L 0xAD
#define	M3XL_DESIRED_LINEAR_SPEED_H 0xAC
#define	M3XL_DESIRED_LINEAR_SPEED_L 0xAB
#define	M3XL_DESIRED_POSITION_32_1 0x7C
#define	M3XL_DESIRED_POSITION_32_2 0x7D
#define	M3XL_DESIRED_POSITION_32_3 0x7E
#define	M3XL_DESIRED_POSITION_32_4 0x7F
#define	M3XL_DESIRED_PWM_H 0xA7
#define	M3XL_DESIRED_PWM_L 0xA6
#define	M3XL_DESIRED_SPEED_H 0x85
#define	M3XL_DESIRED_SPEED_L 0x84
#define	M3XL_DESIRED_TORQUE_H 0x87
#define	M3XL_DESIRED_TORQUE_L 0x86
#define	M3XL_ENABLE_DATA_LOGGER 0xBF
#define	M3XL_ENCODER_COUNT_JOINT_H 0x51
#define	M3XL_ENCODER_COUNT_JOINT_L 0x50
#define	M3XL_ENCODER_COUNT_MOTOR_H 0x45
#define	M3XL_ENCODER_COUNT_MOTOR_L 0x44
#define	M3XL_GEARBOX_RATIO_JOINT_H 0x4F
#define	M3XL_GEARBOX_RATIO_JOINT_L 0x4E
#define	M3XL_GEARBOX_RATIO_MOTOR_H 0x43
#define	M3XL_GEARBOX_RATIO_MOTOR_L 0x42
#define	M3XL_I_CURRENT_H 0x77
#define	M3XL_I_CURRENT_L 0x76
#define	M3XL_I_ENERGY_H 0xC9
#define	M3XL_I_ENERGY_L 0xC8
#define	M3XL_I_POSITION_H 0x8D
#define	M3XL_I_POSITION_L 0x8C
#define	M3XL_I_SPEED_H 0x97
#define	M3XL_I_SPEED_L 0x96
#define	M3XL_I_TORQUE_H 0xA1
#define	M3XL_I_TORQUE_L 0xA0
#define	M3XL_ID 0x03
#define	M3XL_IL_CURRENT_H 0x79
#define	M3XL_IL_CURRENT_L 0x78
#define	M3XL_IL_ENERGY_H 0xCB
#define	M3XL_IL_ENERGY_L 0xCA
#define	M3XL_IL_POSITION_H 0x8F
#define	M3XL_IL_POSITION_L 0x8E
#define	M3XL_IL_SPEED_H 0x99
#define	M3XL_IL_SPEED_L 0x98
#define	M3XL_IL_TORQUE_H 0xA3
#define	M3XL_IL_TORQUE_L 0xA2
#define	M3XL_INDEX_POSITION_32_1 0xBB
#define	M3XL_INDEX_POSITION_32_2 0xBC
#define	M3XL_INDEX_POSITION_32_3 0xBD
#define	M3XL_INDEX_POSITION_32_4 0xBE
#define	M3XL_INITIALIZED 0xA9
#define	M3XL_INPUT_VOLTAGE_ERROR 0b00000001
#define	M3XL_INSTRUCTION_ERROR 0b01000000
#define	M3XL_JOINT_ENC_DIRECTION 0x5E
#define	M3XL_JOINT_ENC_INDEX_LEVEL 0x5F
#define	M3XL_JOINT_TYPE_H 0x01
#define	M3XL_JOINT_TYPE_L 0x00
#define	M3XL_LINEAR_SPEED_H M3XL_SPEED_H
#define	M3XL_LINEAR_SPEED_L M3XL_SPEED_L
#define	M3XL_LOG_ARRAY_SIZE 500
#define	M3XL_LOG_DATA_INTERVAL 0xC0
#define	M3XL_MAX_CONTINUOUS_MOTOR_CURRENT_H 0x3D
#define	M3XL_MAX_CONTINUOUS_MOTOR_CURRENT_L 0x3C
#define	M3XL_MAX_JERK_H 0xB0
#define	M3XL_MAX_JERK_L 0xAF
#define	M3XL_MAX_JOINT_TORQUE_H 0x55
#define	M3XL_MAX_JOINT_TORQUE_L 0x54
#define	M3XL_MAX_MOTOR_CURRENT 40.0
#define	M3XL_MAX_MOTOR_PEAK_CURRENT_H 0x3F
#define	M3XL_MAX_MOTOR_PEAK_CURRENT_L 0x3E
#define	M3XL_MOTOR_CONSTANT_H 0x3B
#define	M3XL_MOTOR_CONSTANT_L 0x3A
#define	M3XL_MOTOR_CURRENT_H 0xC5
#define	M3XL_MOTOR_CURRENT_L 0xC4
#define	M3XL_MOTOR_ENC_DIRECTION 0x48
#define	M3XL_MOTOR_ENC_INDEX_LEVEL 0x49
#define	M3XL_MOTOR_WINDING_TIME_CONSTANT_H 0x41
#define	M3XL_MOTOR_WINDING_TIME_CONSTANT_L 0x40
#define	M3XL_NO_ERROR 0b00000000
#define	M3XL_NR_OF_BLOCKS (M3XL_LOG_ARRAY_SIZE / M3XL_NR_OF_SAMPLES_PER_BLOCK)
#define	M3XL_NR_OF_BYTES_PER_BLOCK (M3XL_NR_OF_SAMPLES_PER_BLOCK * M3XL_NR_OF_BYTES_PER_SAMPLE)
#define	M3XL_NR_OF_BYTES_PER_SAMPLE 22
#define	M3XL_NR_OF_SAMPLES_PER_BLOCK 5
#define	M3XL_OFFSET_JOINT_H 0x53
#define	M3XL_OFFSET_JOINT_L 0x52
#define	M3XL_OFFSET_MOTOR_H 0X47
#define	M3XL_OFFSET_MOTOR_L 0X46
#define	M3XL_OVERHEATING_ERROR 0b00000100
#define	M3XL_OVERLOAD_ERROR 0b00100000
#define	M3XL_P_CURRENT_H 0x73
#define	M3XL_P_CURRENT_L 0x72
#define	M3XL_P_ENERGY_H 0xC5
#define	M3XL_P_ENERGY_L 0xC4
#define	M3XL_P_POSITION_H 0x89
#define	M3XL_P_POSITION_L 0x88
#define	M3XL_P_SPEED_H 0x93
#define	M3XL_P_SPEED_L 0x92
#define	M3XL_P_TORQUE_H 0x9D
#define	M3XL_P_TORQUE_L 0x9C
#define	M3XL_PID_CURRENT_SCALE_H 0x7B
#define	M3XL_PID_CURRENT_SCALE_L 0x7A
#define	M3XL_PID_ENERGY_SCALE_H 0xCD
#define	M3XL_PID_ENERGY_SCALE_L 0xCC
#define	M3XL_PID_POSITION_SCALE_H 0x91
#define	M3XL_PID_POSITION_SCALE_L 0x90
#define	M3XL_PID_SPEED_SCALE_H 0x9B
#define	M3XL_PID_SPEED_SCALE_L 0x9A
#define	M3XL_PID_TORQUE_SCALE_H 0xA5
#define	M3XL_PID_TORQUE_SCALE_L 0xA4
#define	M3XL_POSITION_32_1 0x6A
#define	M3XL_POSITION_32_2 0x6B
#define	M3XL_POSITION_32_3 0x6C
#define	M3XL_POSITION_32_4 0x6D
#define	M3XL_RANGE_ERROR 0b00001000
#define	M3XL_REFERENCE_ENERGY_H 0xCF
#define	M3XL_REFERENCE_ENERGY_L 0xCE
#define	M3XL_RETURN_DELAY_TIME 0x35
#define	M3XL_SINUSOIDAL_AMPLITUDE_H 0xB8
#define	M3XL_SINUSOIDAL_AMPLITUDE_L 0xB7
#define	M3XL_SINUSOIDAL_FREQUENCY_H 0xB6
#define	M3XL_SINUSOIDAL_FREQUENCY_L 0xB5
#define	M3XL_SINUSOIDAL_PHASE_ANGLE_H 0xBA
#define	M3XL_SINUSOIDAL_PHASE_ANGLE_L 0xB9
#define	M3XL_SPEED_H 0x6F
#define	M3XL_SPEED_L 0x6E
#define	M3XL_SPRING_STIFFNESS_H 0x5D
#define	M3XL_SPRING_STIFFNESS_L 0x5C
#define	M3XL_STATUS 0xA8
#define	M3XL_STATUS_CURRENT_MODE_DONE 0x9B
#define	M3XL_STATUS_CURRENT_MODE_EXECUTING 0x9A
#define	M3XL_STATUS_EEPROM_ERROR 0x80
#define	M3XL_STATUS_EM_STOP_ERROR 0x82
#define	M3XL_STATUS_IDLE_STATE 0xA0
#define	M3XL_STATUS_INIT_DONE 0x93
#define	M3XL_STATUS_INIT_TIME_OUT_ERROR 0x83
#define	M3XL_STATUS_INITIALIZE_BUSY 0X92
#define	M3XL_STATUS_JOINT_STUCK_ERROR 0x88
#define	M3XL_STATUS_MAX_CURRENT_ERROR 0x86
#define	M3XL_STATUS_MAX_POS_ERROR 0x84
#define	M3XL_STATUS_MAX_TORQUE_ERROR 0x85
#define	M3XL_STATUS_MOTOR_STUCK_ERROR 0x87
#define	M3XL_STATUS_MOVE_DONE 0X91
#define	M3XL_STATUS_MOVING 0X90
#define	M3XL_STATUS_NOT_INITIALIZED 0x81
#define	M3XL_STATUS_POS_MODE_DONE 0x95
#define	M3XL_STATUS_POS_MODE_EXECUTING 0x94
#define	M3XL_STATUS_PROTOCOL_TIME_OUT_ERROR 0x89
#define	M3XL_STATUS_PWM_MODE_DONE 0x9F
#define	M3XL_STATUS_PWM_MODE_EXECUTING 0x9E
#define	M3XL_STATUS_RETURN_ALL 0x02
#define	M3XL_STATUS_RETURN_LEVEL 0x10
#define	M3XL_STATUS_RETURN_NONE 0x00
#define	M3XL_STATUS_RETURN_READ_DATA 0x01
#define	M3XL_STATUS_SEA_MODE_DONE 0x9D
#define	M3XL_STATUS_SEA_MODE_EXECUTING 0x9C
#define	M3XL_STATUS_SINUSOIDAL_POS_MODE_DONE 0xA1
#define	M3XL_STATUS_SINUSOIDAL_POS_MODE_EXECUTING 0xA0
#define	M3XL_STATUS_SPEED_MODE_DONE 0x97
#define	M3XL_STATUS_SPEED_MODE_EXECUTING 0x96
#define	M3XL_STATUS_TORQUE_MODE_DONE 0x99
#define	M3XL_STATUS_TORQUE_MODE_EXECUTING 0x98
#define	M3XL_STOP_PROTOCOL_HANDLER 0xAA
#define	M3XL_SYNC_READ_INDEX 0xD0
#define	M3XL_TORQUE_H 0x65
#define	M3XL_TORQUE_L 0x64
#define	M3XL_VERSION_FIRMWARE 0x02
#define	M3XL_VOLTAGE_H 0x61
#define	M3XL_VOLTAGE_L 0x60
#define	M3XL_WATCHDOG_MODE 0x37
#define	M3XL_WATCHDOG_TIME_MS 0x38
#define	M3XL_WATCHDOG_TIMER_MUL 0x39
#define	M3XL_WHEEL_DIAMETER_H 0xB4
#define	M3XL_WHEEL_DIAMETER_L 0xB3
#define	M3XL_ZERO_LENGTH_SPRING_H 0x5B
#define	M3XL_ZERO_LENGTH_SPRING_L 0x5A
#define	M_PI 3.14159265358979323846
#define	MANUAL_INIT 10
#define	NO_INSTRUCTION 0x00
#define	NORMAL_PACKET_TYPE 0x00
#define	NR_OF_CONTROL_MODES TORQUE_MODE+1
#define	PING 0x01
#define	POSITION_MODE 0
#define	PWM_MODE 5
#define	READ_DATA 0x02
#define	REG_WRITE 0x04
#define	RESET 0x06
#define	SEA_INIT 9
#define	SEA_MODE 4
#define	SET_JOINT_TYPE 0xA3
#define	SINUSOIDAL_POSITION_MODE 16
#define	SPEED_MODE 1
#define	START_UP_MODE 15
#define	STOP_MODE 12
#define	SYNC_WRITE 0x83
#define	TEST_MODE 17
#define	TIME_OUT_INIT 11
#define	TORQUE_MODE 3
#define	WRITE_DATA 0x03
#define	WRITE_JOINT_PARAMS 0xA1
#define	WRITE_MOTOR_PARAMS 0xA0
#define	WRITE_SEA_SETPOINTS 0xA2
#define	ZERO_SPEED_INIT 8