[
  {
    "descriptor": "testing_stepdir-4",
    "Entries": [
      {
        "type_idn": 59,
        "descriptor": "PWM",
        "info": "Commands the motor to spin with the given PWM.  This will apply a voltage to the motor equal to supply voltage times PWM.",
        "sub_idn": 9,
        "format": "f",
        "unit": "pwm",
        "frame_type": 4,
        "maximum": 1,
        "minimum": -1,
        "decimal": 2,
        "single_step": 0.01
      },
      {
        "type_idn": 59,
        "descriptor": "Voltage",
        "info": "Commands the motor to spin with the given voltage.",
        "sub_idn": 10,
        "format": "f",
        "unit": "V",
        "frame_type": 4,
        "maximum": 25,
        "minimum": -25,
        "decimal": 2,
        "single_step": 0.01
      },
      {
        "type_idn": 59,
        "descriptor": "Angle",
        "info": "Commands the motor to go to the given angle.",
        "sub_idn": 3,
        "format": "f",
        "unit": "rad",
        "frame_type": 4,
        "maximum": null,
        "minimum": null,
        "decimal": 2,
        "single_step": 0.01
      },
      {
        "type_idn": 59,
        "descriptor": "Velocity",
        "info": "Commands the motor to spin at the given velocity.",
        "sub_idn": 4,
        "format": "f",
        "unit": "rad/s",
        "frame_type": 4,
        "maximum": 450,
        "minimum": -450,
        "decimal": 2,
        "single_step": 0.1
      },
      {
        "type_idn": 59,
        "descriptor": "Coast",
        "info": "Puts the motor into coast mode.  The motor will gently decelerate to zero velocity.",
        "sub_idn": 2,
        "format": "n",
        "unit": "",
        "frame_type": 5
      },
      {
        "type_idn": 59,
        "descriptor": "Brake",
        "info": "Puts the motor into brake mode.  The motor will quickly decelerate to zero velocity.",
        "sub_idn": 1,
        "format": "n",
        "unit": "",
        "frame_type": 5
      },
      {
        "type_idn": 59,
        "descriptor": "Trajectory Angular Displacement",
        "info": "The final location of the trajectory.  This alone will not move the motor.  A Trajectory Duration or Trajectory Average Velocity is required after sending the desired Trajectory Angular Displacement.",
        "sub_idn": 19,
        "format": "f",
        "unit": "rad",
        "frame_type": 4,
        "maximum": null,
        "minimum": null,
        "decimal": 2,
        "single_step": 0.01
      },
      {
        "type_idn": 59,
        "descriptor": "Trajectory Angular Velocity",
        "info": "The final velocity of the trajectory.  This will default to 0 if no Trajectory Angular Velocity is specified.  This alone will not move the motor.  A Trajectory Angular Displacement is required as well as a Trajectory Duration or Trajectory Average Velocity.",
        "sub_idn": 20,
        "format": "f",
        "unit": "rad/2",
        "frame_type": 4,
        "maximum": 450,
        "minimum": -450,
        "decimal": 1,
        "single_step": 0.1
      },
      {
        "type_idn": 59,
        "descriptor": "Trajectory Angular Acceleration",
        "info": "The final acceleration of the trajectory.  This will default to 0 if no Trajectory Angular Acceleration is specified.  This alone will not move the motor.  A Trajectory Angular Displacement is required as well as a Trajectory Duration or Trajectory Average Velocity.",
        "sub_idn": 21,
        "format": "f",
        "unit": "rad/s^2",
        "frame_type": 4,
        "maximum": 1000,
        "minimum": -1000,
        "decimal": 1,
        "single_step": 0.1
      },
      {
        "type_idn": 59,
        "descriptor": "Trajectory Duration",
        "info": "The time duration of the trajectory.  The receipt of this command initiates the trajectory.  This may be used in place of Trajectory Average Speed.",
        "sub_idn": 22,
        "format": "f",
        "unit": "s",
        "frame_type": 4,
        "maximum": null,
        "minimum": 0.1,
        "default_value": 1.0,
        "decimal": 1,
        "single_step": 0.1
      },
      {
        "type_idn": 59,
        "descriptor": "Trajectory Average Speed",
        "info": "The average speed of the trajectory.  The receipt of this command initiates the trajectory.  This may be used in place of Trajectory Duration.",
        "sub_idn": 26,
        "format": "f",
        "unit": "rad/s",
        "frame_type": 4,
        "maximum": 450,
        "minimum": 0,
        "default_value": 1.0,
        "decimal": 1,
        "single_step": 0.1
      }
    ]
  }
]
