0b00 - Start communication in manual mode 0b01 - Start communication in auto mode 0b10 - Next bite 0b11 - End of message
Manual: 0b00|x x x x x x 0b10|L L L L L L 0b10|L T T T T T 0b11|S S S S S P
Auto: 0b01|C C C C C c 0b11|c S S S S P
x - wchich leg is to be activated (1-6) L - lift position T - turn position S - speed P - power on(1)/power off(0) c - command C - Curve