# Direct Motion Mode

## Direct Mode Overview

In **Direct Mode**, each actuator is controlled individually. The actuator position is transmitted in a **bit-coded** format with a **24-bit resolution** (3 bytes per actuator). This means:

* **Value = 0x000000 (Decimal = 0)** → Actuator at the lowest position
* **Value = 0x7FFFFF (Decimal = 8,388,607)** → Actuator at the middle position
* **Value = 0xFFFFFF (Decimal = 16,777,215)** → Actuator at the highest position

Each actuator can be set to **16,777,215 different positions**.

#### Data Format

* **ID** consists of two bytes: `0xFF + 0xFF`
* **Each axis** is represented by **24 bits (3 bytes)**
* **Line Feed + Carriage Return (LF+CR)** is required at the end (`0x0A + 0x0D`)

**Packet Structure:**

```
ID   AXIS1   AXIS2   AXIS3   AXIS4   AXIS5   AXIS6   AXIS7   AXIS8   LF/CR
```

#### Byte Layout:

* **2 Start Bytes** → `<255><255>`
* **24 Data Bytes** → **3 Bytes (24-bit) per channel/actuator** (up to 8 channels)
* **2 Stop Bytes** → `<10><13>`

### Important Notes for Mover/SimTools

To prevent errors, follow these guidelines:

* The transmitted string must always have a fixed length of **28 bytes**, even if not all actuators are used.
* If only a single actuator (e.g., **Wind**) is used, **21 additional characters** must be included before/after the wind data.
* Example for one actuator (`Wind`):

  ```
  <255><255>aaabbbccc<Wind>eeefffggghhh<10><13>
  ```
* In **Rig Mode** or **Direct Mode**, ensure that the **Wind actuator value is set to 24-bit**, so it is always 3 bytes long.

<div align="center"><figure><img src="/files/aDFPwmPwzNDHFWT9TFNU" alt=""><figcaption></figcaption></figure> <figure><img src="/files/FwhMu6mmqSKNvCQPae82" alt=""><figcaption></figcaption></figure></div>

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