{
  "forward_90": {
    "logical_rpm": {
      "FL": 90,
      "FR": 90,
      "RL": 90,
      "RR": 90
    },
    "logical_rad_s": {
      "FL": 9.42477796076938,
      "FR": 9.42477796076938,
      "RL": 9.42477796076938,
      "RR": 9.42477796076938
    },
    "serial_line_expected_by_lua": "CMD,9.425,9.425,9.425,9.425\n",
    "driver_1_channels_rpm": [
      90,
      -90
    ],
    "driver_2_channels_rpm": [
      -90,
      90
    ],
    "driver_1_request": "01 10 20 88 00 02 04 00 5A FF A6 82 31",
    "driver_2_request": "02 10 20 88 00 02 04 FF A6 00 5A 3C E0",
    "driver_1_expected_response": "01 10 20 88 00 02 CA 22",
    "driver_2_expected_response": "02 10 20 88 00 02 CA 11"
  },
  "reverse_90": {
    "logical_rpm": {
      "FL": -90,
      "FR": -90,
      "RL": -90,
      "RR": -90
    },
    "logical_rad_s": {
      "FL": -9.42477796076938,
      "FR": -9.42477796076938,
      "RL": -9.42477796076938,
      "RR": -9.42477796076938
    },
    "serial_line_expected_by_lua": "CMD,-9.425,-9.425,-9.425,-9.425\n",
    "driver_1_channels_rpm": [
      -90,
      90
    ],
    "driver_2_channels_rpm": [
      90,
      -90
    ],
    "driver_1_request": "01 10 20 88 00 02 04 FF A6 00 5A 33 A4",
    "driver_2_request": "02 10 20 88 00 02 04 00 5A FF A6 8D 75",
    "driver_1_expected_response": "01 10 20 88 00 02 CA 22",
    "driver_2_expected_response": "02 10 20 88 00 02 CA 11"
  },
  "pivot_left_90": {
    "logical_rpm": {
      "FL": -90,
      "FR": 90,
      "RL": -90,
      "RR": 90
    },
    "logical_rad_s": {
      "FL": -9.42477796076938,
      "FR": 9.42477796076938,
      "RL": -9.42477796076938,
      "RR": 9.42477796076938
    },
    "serial_line_expected_by_lua": "CMD,-9.425,9.425,-9.425,9.425\n",
    "driver_1_channels_rpm": [
      -90,
      -90
    ],
    "driver_2_channels_rpm": [
      -90,
      -90
    ],
    "driver_1_request": "01 10 20 88 00 02 04 FF A6 FF A6 72 15",
    "driver_2_request": "02 10 20 88 00 02 04 FF A6 FF A6 7D 51",
    "driver_1_expected_response": "01 10 20 88 00 02 CA 22",
    "driver_2_expected_response": "02 10 20 88 00 02 CA 11"
  },
  "pivot_right_90": {
    "logical_rpm": {
      "FL": 90,
      "FR": -90,
      "RL": 90,
      "RR": -90
    },
    "logical_rad_s": {
      "FL": 9.42477796076938,
      "FR": -9.42477796076938,
      "RL": 9.42477796076938,
      "RR": -9.42477796076938
    },
    "serial_line_expected_by_lua": "CMD,9.425,-9.425,9.425,-9.425\n",
    "driver_1_channels_rpm": [
      90,
      90
    ],
    "driver_2_channels_rpm": [
      90,
      90
    ],
    "driver_1_request": "01 10 20 88 00 02 04 00 5A 00 5A C3 80",
    "driver_2_request": "02 10 20 88 00 02 04 00 5A 00 5A CC C4",
    "driver_1_expected_response": "01 10 20 88 00 02 CA 22",
    "driver_2_expected_response": "02 10 20 88 00 02 CA 11"
  },
  "stop": {
    "logical_rpm": {
      "FL": 0,
      "FR": 0,
      "RL": 0,
      "RR": 0
    },
    "logical_rad_s": {
      "FL": 0.0,
      "FR": 0.0,
      "RL": 0.0,
      "RR": 0.0
    },
    "serial_line_expected_by_lua": "CMD,0.000,0.000,0.000,0.000\n",
    "driver_1_channels_rpm": [
      0,
      0
    ],
    "driver_2_channels_rpm": [
      0,
      0
    ],
    "driver_1_request": "01 10 20 88 00 02 04 00 00 00 00 63 A8",
    "driver_2_request": "02 10 20 88 00 02 04 00 00 00 00 6C EC",
    "driver_1_expected_response": "01 10 20 88 00 02 CA 22",
    "driver_2_expected_response": "02 10 20 88 00 02 CA 11"
  }
}