# Position Motion Mode

## Position Mode Configuration

### Overview

In **Position Mode**, positions are sent to the controller using millimeters (mm) for translational movements (Surge, Sway, Heave) and degrees (°) for rotational axes (Yaw, Roll, Pitch). These values are represented as 32-bit floating-point numbers (`float`). Additionally, a "Belt" value for the 7th actuator can be included as a 32-bit unsigned integer (`uint32`) when required. Each value (whether `float` or `uint32`) is 4 bytes in size, and the total packet length is fixed at 36 bytes.

### Data Structure

The position data is transmitted as follows:

* **Translational Movements**:
  * **Sway**: 4-byte `float` (in mm)
  * **Surge**: 4-byte `float` (in mm)
  * **Heave**: 4-byte `float` (in mm)
* **Rotational Axes**:
  * **Yaw**: 4-byte `float` (in degrees)
  * **Roll**: 4-byte `float` (in degrees)
  * **Pitch**: 4-byte `float` (in degrees)
* **Optional Actuator**:
  * **Belt** (7th actuator): 4-byte `uint32` (only when needed)
* **Placeholder**:
  * Axis 8: 4-byte filler (e.g., `0000`)

### Packet Format

The complete data packet adheres to a fixed structure:

* **Start Bytes**: `<252> <252>` (2 bytes)
* **Data Payload**: 8 × 4-byte values (32 bytes total)
* **Stop Bytes**: `<10> <13>` (2 bytes)

This results in a total packet length of **36 bytes**.

#### Handling Missing Values

If fewer than 8 values are used, the remaining slots must be padded with 4-byte placeholders (e.g., `0000`) to maintain the fixed 36-byte packet length. The "Belt" value (7th actuator) is optional and only included when needed; otherwise, its slot is filled with a 4-byte placeholder.

#### Example Packets

1. **Without Belt Value**:

   ```
   <252><252><PSway><PSurge><PHeave><PYaw><PRoll><PPitch><0000><0000><10><13>
   ```

   * `<PSway>`, `<PSurge>`, `<PHeave>`: 4-byte `float` values (in mm)
   * `<PYaw>`, `<PRoll>`, `<PPitch>`: 4-byte `float` values (in degrees)
   * `<0000><0000>`: 4-byte placeholders for unused axes (7 and 8)
   * Total length: 36 bytes
2. **With Belt Value**:

   ```
   <252><252><PSway><PSurge><PHeave><PYaw><PRoll><PPitch><PBelt><0000><10><13>
   ```

   * `<PSway>`, `<PSurge>`, `<PHeave>`: 4-byte `float` values (in mm)
   * `<PYaw>`, `<PRoll>`, `<PPitch>`: 4-byte `float` values (in degrees)
   * `<PBelt>`: 4-byte `uint32` value for the 7th actuator (Belt)
   * `<0000>`: 4-byte placeholder for unused Axis 8
   * Total length: 36 bytes

### Summary

* Translational and rotational axes use 32-bit (4-byte) `float` values.
* The optional "Belt" actuator (7th axis) uses a 32-bit (4-byte) `uint32` value, included only when needed.
* The packet always transmits 8 values (6 axes + optional Belt + 1 placeholder), totaling 32 bytes of data.
* Including start and stop bytes, the fixed packet size is 36 bytes.


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