SCORPIO platform controller

PINS description

All commands should be in square brackets with '\n' after closing bracket. Spaces between parts inside command ignored.

As heritage, The device have number "2", so it would parse only commands with format "[2 Xxx]\n".

List of commands:

[2 ?] -- (debug) tell amount of steps leave.
[2 0] -- (new behaviour, old was "restart") -- stop all motors and turn off all relays, due to working watchdog there's no need to make full system restart.
[2 N xxx], where N is number from 1 to 6, xxx is number from -32767 to 32767 -- run stepper motor number N for given amount of steps; if stepper is at end-switch and can't go further, the answer would be [2 N St=x], where x is 1 or 2 (depending on end-switch number); when all steps would be over (or motor will come to end-switch), controller will answer a status: [2 N St=x], if x==3 the stepper isn't at any end-switch.
[2 N x], where N is number from 7 to 9 -- turn on/off or get status of relays (7 -- Shutter, 8 -- Neon, 9 -- Flat); if x==1 the relay would be turned on, if x==0 -- off, if x=='-' the status would be answered (format: [2 N St=x], x==0 if power down, 1 if power up).
[2 a xxx], where xxx if a number from -8 to 32767 -- change motor speed; new speed is 0xffff / (xxx + 10) * 0.125 steps per second.
**[2 N xxx], where N from 'b' to 'd', xxx from 0 to 255 -- change LEDx brightness, ('b' -- LED1, 'c' -- LED2, 'd' -- LED3); brightness 0 is minimum and 255 is maximum.