#define CMD_I           NJOINTS

#define STOPP_I         0x10
#define STOPM_I         0x20
#define POS_I           0x30
#define CUR_I           0x40

#define CMD_A           0x0c

#define STOPP_A         0x1c
#define STOPM_A         0x2c
#define POS_A           0x3c
#define CUR_A           0x4c

#define CMD_G           0x0d

#define RATE_G          0xdd
#define ADCO_G          0xed
#define HAND_G          0xfd

#define CMD_E           0x0e

#define STOP_E          0x1e
#define CALIB_E         0x2e
#define END_E           0x3e

#define CHKSUM          0xff
