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V = version\r
T = "04000,04000,00000\r" # resolutions + error count
q = 00000\r # error count
P = P # power up!
p = 00 # error count (dave ek)
a = Y/N # has been aligned?
A = <N/R> # beenaligned = True
R = R # ignore
I = R # ignore
Z = * # ignore
zXXXX = r # set encoder resolution (dave ek)
h = XXXX # resolution (dave ek)
y = XXXX # encoder values (dave ek)
Q = +XXXX\t+XXXX\r # encoder values in Intelliscope format
Lots of commands supported in his code here: ArduinoDSC. Some of them I know, some of them I don't.
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