From 3dcc1eaf6c1c27f8e8d05e212d08340f70fac3f3 Mon Sep 17 00:00:00 2001
From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Tue, 11 Feb 2020 12:04:41 +0100
Subject: [PATCH] switch to protobuf v2

---
 .../scripts/cmd_vel_transmitter.py            |   5 +-
 .../c_protobuf_includes/status_message.pb.h   |   9 +-
 .../otto_communication.proto                  |  42 +++
 .../otto_communication_pb2.py                 | 304 ++++++++++++++++++
 .../messages_definitions/status_message.proto |  15 +-
 .../status_message_pb2.py                     |  20 +-
 .../config_command_pb2.cpython-36.pyc         | Bin 0 -> 3151 bytes
 .../otto_communication_pb2.cpython-36.pyc     | Bin 0 -> 4996 bytes
 .../status_message_pb2.cpython-36.pyc         | Bin 0 -> 2800 bytes
 .../velocity_command_pb2.cpython-36.pyc       | Bin 0 -> 1854 bytes
 .../py_serial_examples/config_command_pb2.py  | 153 +++++++++
 .../otto_communication_pb2.py                 | 304 ++++++++++++++++++
 utils/py_serial_examples/proto_test.py        |  28 ++
 .../py_serial_examples/status_message_pb2.py  | 135 ++++++++
 utils/py_serial_examples/transmit.py          |  15 +-
 .../velocity_command_pb2.py                   |  76 +++++
 16 files changed, 1083 insertions(+), 23 deletions(-)
 create mode 100644 utils/protobuf_messages/messages_definitions/otto_communication.proto
 create mode 100644 utils/protobuf_messages/messages_definitions/otto_communication_pb2.py
 create mode 100644 utils/py_serial_examples/__pycache__/config_command_pb2.cpython-36.pyc
 create mode 100644 utils/py_serial_examples/__pycache__/otto_communication_pb2.cpython-36.pyc
 create mode 100644 utils/py_serial_examples/__pycache__/status_message_pb2.cpython-36.pyc
 create mode 100644 utils/py_serial_examples/__pycache__/velocity_command_pb2.cpython-36.pyc
 create mode 100644 utils/py_serial_examples/config_command_pb2.py
 create mode 100644 utils/py_serial_examples/otto_communication_pb2.py
 create mode 100644 utils/py_serial_examples/proto_test.py
 create mode 100644 utils/py_serial_examples/status_message_pb2.py
 create mode 100644 utils/py_serial_examples/velocity_command_pb2.py

diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py b/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py
index c76b398..fe9a4a2 100755
--- a/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py
+++ b/utils/catkin_ws/src/joypad_bridge/scripts/cmd_vel_transmitter.py
@@ -6,7 +6,7 @@ from serial import SerialException
 
 ser = serial.Serial(
         baudrate=115200,
-        parity=serial.PARITY_ODD,
+        parity=serial.PARITY_NONE,
         stopbits=serial.STOPBITS_ONE,
         bytesize=serial.EIGHTBITS,
         rtscts=False)
@@ -17,7 +17,8 @@ def callback(data):
     rospy.loginfo('I heard %f %f', linear, angular)
     msg_output = struct.pack('<ff', linear, angular)
     ser.write(msg_output)
-    ser.flush()
+    ser.reset_output_buffer()
+    #ser.flush()
     
 
 
diff --git a/utils/protobuf_messages/c_protobuf_includes/status_message.pb.h b/utils/protobuf_messages/c_protobuf_includes/status_message.pb.h
index 21d1075..ab04922 100644
--- a/utils/protobuf_messages/c_protobuf_includes/status_message.pb.h
+++ b/utils/protobuf_messages/c_protobuf_includes/status_message.pb.h
@@ -18,7 +18,10 @@ typedef enum _VelocityCommand_Status {
     VelocityCommand_Status_UNKNOWN = 0,
     VelocityCommand_Status_WAITING_CONFIG = 1,
     VelocityCommand_Status_READY = 2,
-    VelocityCommand_Status_RUNNING = 3
+    VelocityCommand_Status_RUNNING = 3,
+    VelocityCommand_Status_H_BRIDGE_FAULT_1 = 4,
+    VelocityCommand_Status_H_BRIDGE_FAULT_2 = 5,
+    VelocityCommand_Status_UNKNOWN_ERROR = 6
 } VelocityCommand_Status;
 
 /* Struct definitions */
@@ -32,8 +35,8 @@ typedef struct _VelocityCommand {
 
 /* Helper constants for enums */
 #define _VelocityCommand_Status_MIN VelocityCommand_Status_UNKNOWN
-#define _VelocityCommand_Status_MAX VelocityCommand_Status_RUNNING
-#define _VelocityCommand_Status_ARRAYSIZE ((VelocityCommand_Status)(VelocityCommand_Status_RUNNING+1))
+#define _VelocityCommand_Status_MAX VelocityCommand_Status_UNKNOWN_ERROR
+#define _VelocityCommand_Status_ARRAYSIZE ((VelocityCommand_Status)(VelocityCommand_Status_UNKNOWN_ERROR+1))
 
 
 /* Initializer values for message structs */
diff --git a/utils/protobuf_messages/messages_definitions/otto_communication.proto b/utils/protobuf_messages/messages_definitions/otto_communication.proto
new file mode 100644
index 0000000..5ec2278
--- /dev/null
+++ b/utils/protobuf_messages/messages_definitions/otto_communication.proto
@@ -0,0 +1,42 @@
+syntax = "proto2";
+ 
+message StatusMessage {
+  required float linear_velocity = 1;
+  required float angular_velocity = 2;
+  required fixed64 delta_millis = 3;
+  enum Status {
+    UNKNOWN = 0;
+    WAITING_CONFIG = 1;
+    READY = 2;
+    RUNNING = 3;
+    H_BRIDGE_FAULT_1 = 4;
+    H_BRIDGE_FAULT_2 = 5;
+    UNKNOWN_ERROR = 6;
+  }
+  required Status status = 4;
+}
+
+message ConfigCommand {
+  required float left_kp = 1;
+  required float left_ki = 2;
+  required float left_kd = 3;
+
+  required float right_kp = 4;
+  required float right_ki = 5;
+  required float right_kd = 6;
+
+  required float cross_kp = 7;
+  required float cross_ki = 8;
+  required float cross_kd = 9;
+
+  required float baseline = 10;
+  
+  required fixed32 ticks_per_revolution = 11;
+  required float right_wheel_circumference = 12;
+  required float left_wheel_circumference = 13;
+}
+
+message VelocityCommand {
+  required float linear_velocity = 1;
+  required float angular_velocity = 2;
+}
\ No newline at end of file
diff --git a/utils/protobuf_messages/messages_definitions/otto_communication_pb2.py b/utils/protobuf_messages/messages_definitions/otto_communication_pb2.py
new file mode 100644
index 0000000..fe68e9f
--- /dev/null
+++ b/utils/protobuf_messages/messages_definitions/otto_communication_pb2.py
@@ -0,0 +1,304 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: otto_communication.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf import descriptor_pb2
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='otto_communication.proto',
+  package='',
+  syntax='proto2',
+  serialized_pb=_b('\n\x18otto_communication.proto\"\x82\x02\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x06\x12%\n\x06status\x18\x04 \x02(\x0e\x32\x15.StatusMessage.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
+)
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+
+
+_STATUSMESSAGE_STATUS = _descriptor.EnumDescriptor(
+  name='Status',
+  full_name='StatusMessage.Status',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='WAITING_CONFIG', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='READY', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='RUNNING', index=3, number=3,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_1', index=4, number=4,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_2', index=5, number=5,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN_ERROR', index=6, number=6,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=159,
+  serialized_end=287,
+)
+_sym_db.RegisterEnumDescriptor(_STATUSMESSAGE_STATUS)
+
+
+_STATUSMESSAGE = _descriptor.Descriptor(
+  name='StatusMessage',
+  full_name='StatusMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='StatusMessage.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='StatusMessage.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
+      number=3, type=6, cpp_type=4, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='StatusMessage.status', index=3,
+      number=4, type=14, cpp_type=8, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+    _STATUSMESSAGE_STATUS,
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=29,
+  serialized_end=287,
+)
+
+
+_CONFIGCOMMAND = _descriptor.Descriptor(
+  name='ConfigCommand',
+  full_name='ConfigCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='left_kp', full_name='ConfigCommand.left_kp', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_ki', full_name='ConfigCommand.left_ki', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_kd', full_name='ConfigCommand.left_kd', index=2,
+      number=3, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kp', full_name='ConfigCommand.right_kp', index=3,
+      number=4, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_ki', full_name='ConfigCommand.right_ki', index=4,
+      number=5, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kd', full_name='ConfigCommand.right_kd', index=5,
+      number=6, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kp', full_name='ConfigCommand.cross_kp', index=6,
+      number=7, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_ki', full_name='ConfigCommand.cross_ki', index=7,
+      number=8, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kd', full_name='ConfigCommand.cross_kd', index=8,
+      number=9, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='baseline', full_name='ConfigCommand.baseline', index=9,
+      number=10, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='ticks_per_revolution', full_name='ConfigCommand.ticks_per_revolution', index=10,
+      number=11, type=7, cpp_type=3, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_wheel_circumference', full_name='ConfigCommand.right_wheel_circumference', index=11,
+      number=12, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_wheel_circumference', full_name='ConfigCommand.left_wheel_circumference', index=12,
+      number=13, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=290,
+  serialized_end=581,
+)
+
+
+_VELOCITYCOMMAND = _descriptor.Descriptor(
+  name='VelocityCommand',
+  full_name='VelocityCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=583,
+  serialized_end=651,
+)
+
+_STATUSMESSAGE.fields_by_name['status'].enum_type = _STATUSMESSAGE_STATUS
+_STATUSMESSAGE_STATUS.containing_type = _STATUSMESSAGE
+DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
+DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
+DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
+
+StatusMessage = _reflection.GeneratedProtocolMessageType('StatusMessage', (_message.Message,), dict(
+  DESCRIPTOR = _STATUSMESSAGE,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:StatusMessage)
+  ))
+_sym_db.RegisterMessage(StatusMessage)
+
+ConfigCommand = _reflection.GeneratedProtocolMessageType('ConfigCommand', (_message.Message,), dict(
+  DESCRIPTOR = _CONFIGCOMMAND,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:ConfigCommand)
+  ))
+_sym_db.RegisterMessage(ConfigCommand)
+
+VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
+  DESCRIPTOR = _VELOCITYCOMMAND,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:VelocityCommand)
+  ))
+_sym_db.RegisterMessage(VelocityCommand)
+
+
+# @@protoc_insertion_point(module_scope)
diff --git a/utils/protobuf_messages/messages_definitions/status_message.proto b/utils/protobuf_messages/messages_definitions/status_message.proto
index 964c253..b259cee 100644
--- a/utils/protobuf_messages/messages_definitions/status_message.proto
+++ b/utils/protobuf_messages/messages_definitions/status_message.proto
@@ -1,14 +1,17 @@
 syntax = "proto3";
-
-message VelocityCommand {
-  float linear_velocity = 1;
-  float angular_velocity = 2;
-  fixed64 delta_millis = 3;
+ 
+message StatusMessage {
+  required float linear_velocity = 1;
+  required float angular_velocity = 2;
+  required fixed64 delta_millis = 3;
   enum Status {
     UNKNOWN = 0;
     WAITING_CONFIG = 1;
     READY = 2;
     RUNNING = 3;
+    H_BRIDGE_FAULT_1 = 4;
+    H_BRIDGE_FAULT_2 = 5;
+    UNKNOWN_ERROR = 6;
   }
-  Status status = 4;
+  required Status status = 4;
 }
\ No newline at end of file
diff --git a/utils/protobuf_messages/python_protobuf_includes/status_message_pb2.py b/utils/protobuf_messages/python_protobuf_includes/status_message_pb2.py
index 0067066..c5cc154 100644
--- a/utils/protobuf_messages/python_protobuf_includes/status_message_pb2.py
+++ b/utils/protobuf_messages/python_protobuf_includes/status_message_pb2.py
@@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   name='status_message.proto',
   package='',
   syntax='proto3',
-  serialized_pb=_b('\n\x14status_message.proto\"\xc6\x01\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x01(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x01(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x01(\x06\x12\'\n\x06status\x18\x04 \x01(\x0e\x32\x17.VelocityCommand.Status\"A\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x62\x06proto3')
+  serialized_pb=_b('\n\x14status_message.proto\"\x86\x02\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x01(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x01(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x01(\x06\x12\'\n\x06status\x18\x04 \x01(\x0e\x32\x17.VelocityCommand.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06\x62\x06proto3')
 )
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
@@ -47,11 +47,23 @@ _VELOCITYCOMMAND_STATUS = _descriptor.EnumDescriptor(
       name='RUNNING', index=3, number=3,
       options=None,
       type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_1', index=4, number=4,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_2', index=5, number=5,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN_ERROR', index=6, number=6,
+      options=None,
+      type=None),
   ],
   containing_type=None,
   options=None,
-  serialized_start=158,
-  serialized_end=223,
+  serialized_start=159,
+  serialized_end=287,
 )
 _sym_db.RegisterEnumDescriptor(_VELOCITYCOMMAND_STATUS)
 
@@ -105,7 +117,7 @@ _VELOCITYCOMMAND = _descriptor.Descriptor(
   oneofs=[
   ],
   serialized_start=25,
-  serialized_end=223,
+  serialized_end=287,
 )
 
 _VELOCITYCOMMAND.fields_by_name['status'].enum_type = _VELOCITYCOMMAND_STATUS
diff --git a/utils/py_serial_examples/__pycache__/config_command_pb2.cpython-36.pyc b/utils/py_serial_examples/__pycache__/config_command_pb2.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..f9e9c83435dac6f20eaedac56d8fbc8db2f8b13b
GIT binary patch
literal 3151
zcmd5-%W~T`6a}akP3z@{9651a+ew|MO|2$r`ihfj$Bxr1;$)JnxF}2UUdfQb#{g7n
zd%CK-^;dM&-{@yx+m(JHs}3kpwiLV7vcgcjJU9R@F3!DpP%2sBZ;yZad6|&E$%Wrd
zLdf@o5Sh&o0t6^0HbK&*K$Zy@heWJG2C~1C=oaMk+ctneo@e~5ouhh0foJ@@T}W(`
zXMEG1N$eS(@hy8cu`QnQi*}I`ob8rQiCxBAw*s?Jgc2H1KBZ7O%i2{ecjvHrN-4oy
zcOI%x1&aE~br)a`=7GQhEJ6(yU<nt2oKhIHrR06>tdcP6u$=Jzn|U2>z#<q^FjwFs
zFkp2G=EtxGtFS%=a|3R|I@G3M-hxk{2AfkbZ^IqfgvJ!iPvJ9Yz}+dBpTid1h2|8@
zFW??D;XZ7Fq0dO`DQV;9^8mht`|xmz`M!d$;URqU@61lALv#ZQOOV*`Eqn)$&Z>3|
zYgp|rL3NwpO!pd8vCyrzDK29Tw&C%aahkEOW4U_+uWQu-eM1^g`Z_)K`x!!rM~A7R
z-}>1}QiTxmD|tg2bpKD%po$&|O-}ya|JXbTeQdUYaku$OgkAJv*$m@2Z1!TtWivW<
zBnswo2ajAo;wYP57_?c(@j~Bs18}0&{jKO&ncLj;Ti`y)=|#08B0uSqk@{pMK6MGu
zQ@sgeU*)+Qv*2EXsyqf>2-u)Pdw%Y#&=V(fj#g+;WdTZ0uqX~igQ|j$Qo0?~9Rk}N
zy_khTgQ|)=_FEx$z>VFOD>b2fK2q=DWO007TagIkP!T(y7!P_+DIwOSq>aD+Fs#x}
z5|*7oROTyIfnz&%4x>6<qj!vRfYpt00P2|ps9L6Aor7ddb^>Ab+ynyke2RD?lv1x$
zm_S(FoIs#HlOj3{oCR375@f|%jG1>Rod|^^@LkAzI(GHhHF~EoziurLeEa19kvkp}
zUe9l%z`(<LF_~b^swX?Xj8W2z)-aNdtjY$ikE#&4-l5w;m6yjs>>jDoKx*s+wXD>5
zNbNMBC$+IqZw=$z*NX3JiS@Pc_8JvYA%v)zc8_x>Sun=}z$29pdVULq%EreLD$|Q1
zC$VzeZ6Q~42d;Dg+is7?&O4X)P?g3%i$j?WhRtBm^9N?d3xn8Y0Sh_<pva_yM==JH
zg@LM!Oh<ZQgsKomI><8J8@qgOEbWKO`@tS5=VWO-IH{ugI+;c^b_I>~b#9Gla0LzQ
zk>(~DsTTW%WTN5c2kWJH-@HisV7(y?`ZEbFmF(oADc;w0#lBR>CmZ8&xlHT*Sv~w}
zp`Y9ypX17m=oj@wSEj?s=J-5UrA@!2#k@=iVcV3DMl}(%xTaNYwi(An)LCtbbq(g*
z3^_<;jdUheF+dq3By!X}saB=9rH7PKfr8uODCRU)9SwJc8+1^rd>CNZma2LoL1pZU
zSd}jz7=W4|ucErLHVkF$K7F(E`uVH3FJCLmar_W^937{zqB8PWs^U8oIzb#3v_oY$
zEmi4+VTa?O2)BA|p#`93o%5P4^jRy@8K$DpXQyVJ^QtfOA*iY|QTc@qsw(Ub@>>;j
zzXL5*-eVkhN0*6sq-jg9vBPAHV!TsX=R{T6(?P!g<k~!RW4r9^yxiY={%q&vix)ra
z@2c9xq9L8u@t`KHJi`Em8za2Z7mgS57lS+Otu9W5;fKls^J1}}ovNfx4f`%!k;%ob
zQ&^eXgCIZAc`x4+LQJ|!i)qW4xhyr3Ry3@UZBWC=(mXY(N%K@&|A(*CkE?w#4a3mB
Q4|X)L%#3A}sX?vGKM!hf761SM

literal 0
HcmV?d00001

diff --git a/utils/py_serial_examples/__pycache__/otto_communication_pb2.cpython-36.pyc b/utils/py_serial_examples/__pycache__/otto_communication_pb2.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..4abbf3e505deb82d42f3e6ea1e04601d9cf1f0c3
GIT binary patch
literal 4996
zcmcInO;_8>8J>|p5&pt4U<d)ngn)ZnDBSk;wxwwZ7(x?F3MOf$=Tw#bjvYDr@R8&c
ze7fi<ch^JzLKj{2Z{%la+m*LncGWXuNm#;M$fDL^H1p0g@4U~<JCBC1(`j)IUi{&^
zb%g$nMt;i(q2~x8>yI&n00CAJK@@c`pg9D>M`SKS1ft)e?h}ZyHxU3qT#aZ^62ojn
zLXBu~lHm2E8qtzug4ZY1h$fOrUKiDfmLe&P=wv5-iAaXVI$4;66r`yDnM(}Wt0>9Q
zOlOMbE-^+l*2zN-rU26%jddPC9(Z(s;lWjmTM94@(=ck8fmxUhSc)Kk5U|X_Jj@3y
z4`Bfo0+vUx2#cPjo#3@4D8b{a2~wb$&NMB!G0s34$}C2}G}f7gWq1MzrePKqVHQ?s
z5zr-zkUcBBe0r7T$W>V5xVw=R_yNp<0E;lse6l?n<L@i@AqX%JKZ5n~sCKlC+K3j~
z!&uU+1shO;A7ACj9F28mU=ub+xNO1K_vG>u_~|{ld;>q@T<&K5E&QDGxf}Tl_$AE4
z!ab1N@GDs0J9F3WJcD1uB0Rr`&mDLH&-t3)<#QMIU>&OW@VO5MP=%NGKpw(x;3d3*
z=OB#Vb)IXl;Rs$q?H>M);SJQ_x8IL!^W15(JX~?}=mbuA9?kPSszZGwkCx%=o_Vwi
zZ|}~dw!ktsF#9|B9iROnEzr5n0(>=xq(^j)7NkWwM{}JeC~qS=&ug38h(6@C`Zl5y
zof4F3qVu?gX_?N!dmvZBWrQr#Oy>z*=BJ!tHhs*zk6GcE6(3XgF%NyrQ;vDcFn~`{
z<@W<7y|qCEA=JdK46`@;+hsBwMF{;FouUe^{R>sFgU?L{=EZ+sZ+tK`y3qnfl{em)
zMu#?SYs0W@W20v)s<qL*kSuB{vMSMYS?j8F*ef*+P3!4OQ??aDm%5Fu_3nj}+*W0+
z0rImLo0tV-#=~(5UR)xNtAhYvG9p6FiL0`$=$jSn#HrpifL5@{qQ8#UWRAH{e})Qn
zM4(pFRJyidR<M)MsAb7*$~sKiQfZTgSiw%#y3iViDuHav4cTIV%=Jjdp<iUogWT4;
zrePZnB5_{X>iu0nNW2wT{`^-#OrP4a-LsB{f#he!tg7f#Hl<HgHJXZjQN$%-O~@C;
zoUFHd>S&L^dkSI-sA|iSrl_i76(c2KEuLQy;}-W^jFyD8%+~aJU?R6w{`?m##)m!m
zNilI&dsRDrSIeP%Ud+7PIjkSn4y4`V+Wz4|4(BJt*hzI~?|n{S*pstb?XY%`i{uMp
z?xpnN<Z$nxD(&x_y{=1}x#$?{RxXyG64UM^QuXBI_#_uEfBvT+rgsg!rL=bqO_O!V
zXT^j{TekGE>(ciPip$zJ04FTub7Im|+8_8BMtRht6k{O^6yu(yX&RQrW=e!CN--I-
zKykveu&iJ^RTQ~pK`hux^P?qosVSNClcDxlDitS7!dfE#SezTi_NNb&s!~%in?0>X
zO{zC(F~uE}#3E-r4v}Vv@}8J|>*j>FOkbWYm8cWdWsN$CuH5`6x2Y4iE_7QyC+XqY
zRr(a9Zo_etqF)%7HjbAlm6(}D2strD2YT+r^`6$CrjszbjJ@SV?TaoYp-dVuy&=O?
z8n81?yj&tT@@T*g^$qjZfSqX)%%lO+kHJ3>Ldp_Gs4_7OZKBmvRf%&>wiK1}T9nnC
z_$OKIQOn6T4c(R%UD4YT3)q}toN^-zV%f53JDCv+)xim#T_=2U`;UTa7dqJcl`N0Y
zTx3F3V8t{mW*N0)v)kpdkeDhrs7j_j$d&}OCHGWY;&GF7u$gkjj1O}rsNU0tY|6}G
zO0gt*Zd2V-44q{Cs$?|{pK(}W`insZ;eIEeJpK6~dQ_DhSB=8?G}Nd;hHYJv6^{@?
zmE6d}EU`5yv4Zo6w-l;^<%m85i==dF*%UZii-<mRi*F=Jd(=U0sMMU|8RZX`Oj&PJ
zi^L6`8ZFCY|C5+cSONq!iFk_CpAKl%x+_#(zcRjG@%mwWKM-HO`ZK`^JX!M*$}I@R
zN5CxzAims%5uOYV62tr(s^X2QJiG7c##Al>1{2(oCzRp&Jo|us+{sw=?3aTJF-~Cz
zlWh3y^4ebw`nXkx2Px+0RuS$$4f?rFtOsc(KxK@OQWX$#!kXP*3W<1F7W$<yAbjeS
z0|6oBZ_NA5%}WTooKyry+^e4Mo*cfZAD=j)BxwfpR4Pf8RVQLySWfB_HJK7firzAa
zAT>y~Z5VBp4(~9HUd!a$Hz{3TdrZDlNy*h2ldt@wbbWC$`4Z-&(B;WwOF|NRL-8UB
z)-OSWWcC%6?)mpI^IHa+IiYREvZ)#DB$=w-)2_kf0c*cy`aNQtmQL$C^|RBX>gnmu
zLDg+t`waOIM}}tinXX(LoLEaWWSeAyE=k6{4(%Qv9qrWiNKSfNeSN%pSby(XGDC%u
z8W;SlW3KwzH9e}(K7cG7P@S5xP2ml@KQ;~3y$#mc$1~wJoG2(w+gxFbl=T+L?K3yn
z9N)0QzpoE#>^tcsw};#RjD1Y4|6qiYcoC<(Cz6asvA~~{AV$5qAVhH-3pkFy?41;b
zzLJ6%@qM}8k~r!5V?M(zX7m1%ZY?RWU)1%<{0KOC9pk<He&3w`k3NsXIF7^lI4jO&
ZxK>}nYV6oZ3dga?9wCDTEJnib{{gR5FI4~l

literal 0
HcmV?d00001

diff --git a/utils/py_serial_examples/__pycache__/status_message_pb2.cpython-36.pyc b/utils/py_serial_examples/__pycache__/status_message_pb2.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..7f1875b5ed179a14078883b7898b7f5d6e37614a
GIT binary patch
literal 2800
zcmb7F&2HO95Z<LEilX&H%kqyLTXB@Qv6|LSoNEx&iGOOekptOo&^>fZX+{c_6)BKZ
zU>iLYb+3McK0#k2=RUz+d(tcPR4nylNik4VgqE|j!{PVMemi`g$(a40U;UKG6Y@8i
z_^lE`z9EDJFEv7d02PE0By9?$NI?5Q{1U_<{yXVDf`qy=4G8EW)`_zORZk>EtfRAJ
zWE&#ZF<2_HQzF(e*<56sBGyT>G$lCK&Ri3g#Y8&?bC8A%YLLCAkh_U93$yKcw5};7
zm}uw0f_b25VWPbNd5F*fg@v0$<SD=+EW)H`36^1b%CiC*Xj7gdtitM)=N_!V+LUJ<
zN>CbkTFJ<|4;%2{CdCSvZ7*VBh;a$ZP*xa$Vxqka58)9IScGLL!7^;(3Xp4sP+gnR
z_{B{wihK-PQQUt=R^Urm1`SHEs&cA5x+C8c_zE;wg|A`z?x<G0MOp+4tpS#dn!yfi
zz|$Lx6|sQD_9{Fn5`GVhSm0||M610H<rf4~?GltR*}mVTxPe7@2D>-fb&Ng0Y`csP
zR4ss>lFIYG5>~YzBZM^QP-N<^{;!qD;)IZ2$SJAN>Yt=SCB5)fa5Vh$?aq6zgF8)d
zguV0D_uAM9gB>pny`5g@h+wCC$piEqTX4LvJ6(anP7vB*FW?;v0=tF0Ti@O8UP|MI
zuse0IUnbN`6%b#a#iWfenGvQo0eY=SXjQ2TJ9OM<6)JUf8y;YV`U?3iR$nEKa*p3n
zq0$5l8otvFJ-<R_atKN-_}CQK2p!L@P?-xZJ9STRutU3U2Pz<Y`=sJ<RhZ_r-SxfD
zlZ5G!vD;gxgqU{*l|TKanVHk5EN=!?$uFBZ;kan~{38ml;e?kfbVJ+H@++ogyRDv>
zT+yPHf|&*sq0Kvv5KgcX+t9Z3{HCc7fUU$gw5{y!;`Y>whO_dgU#Y1NR`PRZ^1S+8
z_2gaEBKf?TeYbafc3eH;uTQFn$43^;r_4m{U~m6NOH;A6^J?|DdSu1&1=ISLzp5SY
zA06<+z4PzS_%kbhhj-UX<mb)I@Fo19Ry(O#dL=I7uH8YI?AnbFb_=B*T)Lrs!7>90
zIadh0TbDzeSB1Nnuo3o3!p{*xWWsR)FQo4FI(77A((9@{4P-pL>>`^X*H^Na19p8S
zH#VZjKBLxG`ufbh+gI{p)8zU}%KbkGA<jKYNF_CZmTLBd;1Oq|=?ILhxU!`F(H1=n
zWUk@4q3yVi+u{nazo-CO69oxE+Ye=S!h<fzX*tPRF<q@s*KS5@hm~A}&@ZVov!I58
z8kQ6_qtWd~SXe^Xbrfv=y&Z7Crri@Ek8rch^fWy>?23X+q1)>W*pyYmv=eZ=2+<83
z&t<u>$%BSBW;`qUtI{-s*>yQ}7_L^QqbCoF93GHaJq?acKdZLRP(zUrQn4lqb6?eD
zLk$rRz3HHUK$>F)0ZY3Wga{GafSF_FL9~%9GolW5U7$Z7DQf&U_ieX@0n<Gfy=LG)
zRIhrZ1dyL@HmU(tG->W1oW8CdzdbvtNt5%A2R(tDS02h(a2d$-NAy*Rx#KoHrtvz<
zwLGsShP|rZYx*e#V2<CmHea<`W{kSEKQ{=tZH|6A!pvtHq@Pjl<o-YvEUDHx)LHh>
z5x76@x&BiXwp7EG6NKnbFS6``+w0s0vjsK(K^=?<=ORBn+dDfyeRFVnx_5LioZaS}
z$ze`Bnmbe*cI%Ldrts{LWv5fJ>|kSg{W3bN{^RkMFHQ=39KhC&&_&-45#Fk=K*JNm
zzJ8{9PI5Srac~-;zo|-)8<k+VHu2qxzP75VNaMv|OJAza6Z}O8F=&aVM_0^9#Hkit
zY0Zp}Y)y+(ooZC4|L<;SgItDY#>TmZ*$iq7^QoM(GvyoojiF^|>K7m8RCzRN#L`r!
Lrk14|HDmt*_saKV

literal 0
HcmV?d00001

diff --git a/utils/py_serial_examples/__pycache__/velocity_command_pb2.cpython-36.pyc b/utils/py_serial_examples/__pycache__/velocity_command_pb2.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c3fd0d8d8b3c684e6db4da15155b8a42a4f24b0e
GIT binary patch
literal 1854
zcmaJ>NpBlB6edU8Xe?>Q`w}-vgBIvqEVMx{g&VZ6<03`9z%~M84q>TzPs%8q1?0%E
zjGpRV{X_bfc<o7lp{If~lB}p`MU43P7V>-R%XZrt|Ni~^&zpq&MHYTLgpeNyA?iCy
z2oRux1O&;D0@)>CeI)WJRG|6?$-aP^*#ip*)I}w(1~qCd8ln={gGNEyq7vIdv!I)z
z5<9_4K|7)nw}KWWxH4?tlc0mOp$jX}f;L*vxu@VhR09t?!&UU|DJ57Nu7L+0P&8j{
zxDKnZ1_ah&12$nDwr~T;J%w^@75nysTWIdUZlU+TngeS<%mNBq&@QMwcmn$mUa*Oq
z=nc2PJ0#c~Zi9!7;ZC38E^fkS@btmDuLOJ889u>1gB9o%@t;jhP|qe6LP$ub0XDn&
zj!b~7gpl9J74hlWpTwt{-b$lf{QdoN_d^<Ew-1rv-3yrxG0asr&GWQ7$|Iq=*_bJm
z5f=<^d7KGU-5V5X80BLYrg6*@U|H{*gKVtrL&4)7@K-hStbroy%c!gwDyKj-BtY+t
z8`hbw3!X>G*FM#COu`h<r_x}5L@Uk3#hvpPe5xHl70M{fQ|VLPh*2p%KqHXY7Z~PI
zn)p<^Y8>}c!GPzy$CXj&JX#tb?zWaaJIG|3r<w%yf_Qn?cm6}?#j)eQoyO&;49nWK
z<BBLjF4^qf9r~PpWv%Tv9!~}%u_&>Oq&I!Xuj*>TW7Lg|hadR>bzO~<oZsqpnT+TT
zP1yDFn|k@hyJt(N4wfKIOr1<jS|%o0C%!9PLWpkmM?$ayL@i1HZ*@Hx#XXd|nvXNo
zc9><XplX8mQ0UbUTrt2tABmjZa4|yN{`A<IrlvG&Vls+L(hbuj=TQ<RgObsT6vNvb
z6BVV2cIPBhVVa?Cq?t*o(*FwM-ScI4mjgZ7Gp@cTg!o?JsWg*F+x<vj;ceAW@`Yj6
z`w<FI+L;4Tx|N{H5el3}GIK)7FO5lih8%cLpj<UPZ*I;cPX?%TJxws}EA1_0Q{`Od
zy0gH+1oXzNbQYV<x3qKo`s(QN&BgWkrFIyLQy2+k%-`1)HCDQHgVMx~MM*!^7VBwu
zkfsBHWkvT!ec3e7R@h?;NYj$qX45Rml~UociDawrhAlOcY#VmtxJ<on7&(KU?wmvd
zkLSH9zcp%GmpF)2j`CBXb{-YAdt$=Az^L^_%JaZuZ(sj%e)Q)0-O>5!>5pf}dULU&
z6zh%4g5CcK6O=qhxG?=2rsA|53fHD`8`FcXLKNn5-N15Zu%@zwnN!S4GjFtgScdtP
znM&$cLWoVD($;KM>{^vt#cEm3oVKWCRcW2t)TVW6sKt|QS(ec#?Mlk7I97*R)T#Uf
DvM?uv

literal 0
HcmV?d00001

diff --git a/utils/py_serial_examples/config_command_pb2.py b/utils/py_serial_examples/config_command_pb2.py
new file mode 100644
index 0000000..58cca1c
--- /dev/null
+++ b/utils/py_serial_examples/config_command_pb2.py
@@ -0,0 +1,153 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: config_command.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf import descriptor_pb2
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='config_command.proto',
+  package='',
+  syntax='proto3',
+  serialized_pb=_b('\n\x14\x63onfig_command.proto\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x01(\x02\x12\x0f\n\x07left_ki\x18\x02 \x01(\x02\x12\x0f\n\x07left_kd\x18\x03 \x01(\x02\x12\x10\n\x08right_kp\x18\x04 \x01(\x02\x12\x10\n\x08right_ki\x18\x05 \x01(\x02\x12\x10\n\x08right_kd\x18\x06 \x01(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x01(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x01(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x01(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x01(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x01(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x01(\x02\x12 \n\x18left_wheel_circumference\x18\r \x01(\x02\x62\x06proto3')
+)
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+
+
+
+_CONFIGCOMMAND = _descriptor.Descriptor(
+  name='ConfigCommand',
+  full_name='ConfigCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='left_kp', full_name='ConfigCommand.left_kp', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_ki', full_name='ConfigCommand.left_ki', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_kd', full_name='ConfigCommand.left_kd', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kp', full_name='ConfigCommand.right_kp', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_ki', full_name='ConfigCommand.right_ki', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kd', full_name='ConfigCommand.right_kd', index=5,
+      number=6, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kp', full_name='ConfigCommand.cross_kp', index=6,
+      number=7, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_ki', full_name='ConfigCommand.cross_ki', index=7,
+      number=8, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kd', full_name='ConfigCommand.cross_kd', index=8,
+      number=9, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='baseline', full_name='ConfigCommand.baseline', index=9,
+      number=10, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='ticks_per_revolution', full_name='ConfigCommand.ticks_per_revolution', index=10,
+      number=11, type=7, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_wheel_circumference', full_name='ConfigCommand.right_wheel_circumference', index=11,
+      number=12, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_wheel_circumference', full_name='ConfigCommand.left_wheel_circumference', index=12,
+      number=13, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=25,
+  serialized_end=316,
+)
+
+DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
+
+ConfigCommand = _reflection.GeneratedProtocolMessageType('ConfigCommand', (_message.Message,), dict(
+  DESCRIPTOR = _CONFIGCOMMAND,
+  __module__ = 'config_command_pb2'
+  # @@protoc_insertion_point(class_scope:ConfigCommand)
+  ))
+_sym_db.RegisterMessage(ConfigCommand)
+
+
+# @@protoc_insertion_point(module_scope)
diff --git a/utils/py_serial_examples/otto_communication_pb2.py b/utils/py_serial_examples/otto_communication_pb2.py
new file mode 100644
index 0000000..fe68e9f
--- /dev/null
+++ b/utils/py_serial_examples/otto_communication_pb2.py
@@ -0,0 +1,304 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: otto_communication.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf import descriptor_pb2
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='otto_communication.proto',
+  package='',
+  syntax='proto2',
+  serialized_pb=_b('\n\x18otto_communication.proto\"\x82\x02\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x06\x12%\n\x06status\x18\x04 \x02(\x0e\x32\x15.StatusMessage.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
+)
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+
+
+_STATUSMESSAGE_STATUS = _descriptor.EnumDescriptor(
+  name='Status',
+  full_name='StatusMessage.Status',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='WAITING_CONFIG', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='READY', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='RUNNING', index=3, number=3,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_1', index=4, number=4,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_2', index=5, number=5,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN_ERROR', index=6, number=6,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=159,
+  serialized_end=287,
+)
+_sym_db.RegisterEnumDescriptor(_STATUSMESSAGE_STATUS)
+
+
+_STATUSMESSAGE = _descriptor.Descriptor(
+  name='StatusMessage',
+  full_name='StatusMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='StatusMessage.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='StatusMessage.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
+      number=3, type=6, cpp_type=4, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='StatusMessage.status', index=3,
+      number=4, type=14, cpp_type=8, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+    _STATUSMESSAGE_STATUS,
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=29,
+  serialized_end=287,
+)
+
+
+_CONFIGCOMMAND = _descriptor.Descriptor(
+  name='ConfigCommand',
+  full_name='ConfigCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='left_kp', full_name='ConfigCommand.left_kp', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_ki', full_name='ConfigCommand.left_ki', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_kd', full_name='ConfigCommand.left_kd', index=2,
+      number=3, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kp', full_name='ConfigCommand.right_kp', index=3,
+      number=4, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_ki', full_name='ConfigCommand.right_ki', index=4,
+      number=5, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_kd', full_name='ConfigCommand.right_kd', index=5,
+      number=6, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kp', full_name='ConfigCommand.cross_kp', index=6,
+      number=7, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_ki', full_name='ConfigCommand.cross_ki', index=7,
+      number=8, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='cross_kd', full_name='ConfigCommand.cross_kd', index=8,
+      number=9, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='baseline', full_name='ConfigCommand.baseline', index=9,
+      number=10, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='ticks_per_revolution', full_name='ConfigCommand.ticks_per_revolution', index=10,
+      number=11, type=7, cpp_type=3, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='right_wheel_circumference', full_name='ConfigCommand.right_wheel_circumference', index=11,
+      number=12, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='left_wheel_circumference', full_name='ConfigCommand.left_wheel_circumference', index=12,
+      number=13, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=290,
+  serialized_end=581,
+)
+
+
+_VELOCITYCOMMAND = _descriptor.Descriptor(
+  name='VelocityCommand',
+  full_name='VelocityCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=583,
+  serialized_end=651,
+)
+
+_STATUSMESSAGE.fields_by_name['status'].enum_type = _STATUSMESSAGE_STATUS
+_STATUSMESSAGE_STATUS.containing_type = _STATUSMESSAGE
+DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
+DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
+DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
+
+StatusMessage = _reflection.GeneratedProtocolMessageType('StatusMessage', (_message.Message,), dict(
+  DESCRIPTOR = _STATUSMESSAGE,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:StatusMessage)
+  ))
+_sym_db.RegisterMessage(StatusMessage)
+
+ConfigCommand = _reflection.GeneratedProtocolMessageType('ConfigCommand', (_message.Message,), dict(
+  DESCRIPTOR = _CONFIGCOMMAND,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:ConfigCommand)
+  ))
+_sym_db.RegisterMessage(ConfigCommand)
+
+VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
+  DESCRIPTOR = _VELOCITYCOMMAND,
+  __module__ = 'otto_communication_pb2'
+  # @@protoc_insertion_point(class_scope:VelocityCommand)
+  ))
+_sym_db.RegisterMessage(VelocityCommand)
+
+
+# @@protoc_insertion_point(module_scope)
diff --git a/utils/py_serial_examples/proto_test.py b/utils/py_serial_examples/proto_test.py
new file mode 100644
index 0000000..0aec647
--- /dev/null
+++ b/utils/py_serial_examples/proto_test.py
@@ -0,0 +1,28 @@
+import otto_communication_pb2
+
+status_message = otto_communication_pb2.StatusMessage()
+
+status_message.linear_velocity = 0.0
+status_message.angular_velocity = 0.0
+status_message.delta_millis = 0
+status_message.status = otto_communication_pb2.StatusMessage.Status.UNKNOWN
+
+encode_buffer = status_message.SerializeToString()
+status_message_length = len(encode_buffer)
+print(encode_buffer)
+print(status_message_length)
+status_message.ParseFromString(encode_buffer)
+print(status_message)
+
+my_velocity = otto_communication_pb2.VelocityCommand()
+my_velocity.linear_velocity = 0.6
+my_velocity.angular_velocity = -0.1
+
+encode_buffer = my_velocity.SerializeToString()
+print(encode_buffer)
+print(len(encode_buffer))
+
+
+my_config = otto_communication_pb2.ConfigCommand()
+print(my_config)
+
diff --git a/utils/py_serial_examples/status_message_pb2.py b/utils/py_serial_examples/status_message_pb2.py
new file mode 100644
index 0000000..cf3f0fa
--- /dev/null
+++ b/utils/py_serial_examples/status_message_pb2.py
@@ -0,0 +1,135 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: status_message.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf import descriptor_pb2
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='status_message.proto',
+  package='',
+  syntax='proto2',
+  serialized_pb=_b('\n\x14status_message.proto\"\x82\x02\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x06\x12%\n\x06status\x18\x04 \x02(\x0e\x32\x15.StatusMessage.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06')
+)
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+
+
+_STATUSMESSAGE_STATUS = _descriptor.EnumDescriptor(
+  name='Status',
+  full_name='StatusMessage.Status',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='WAITING_CONFIG', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='READY', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='RUNNING', index=3, number=3,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_1', index=4, number=4,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='H_BRIDGE_FAULT_2', index=5, number=5,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN_ERROR', index=6, number=6,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=155,
+  serialized_end=283,
+)
+_sym_db.RegisterEnumDescriptor(_STATUSMESSAGE_STATUS)
+
+
+_STATUSMESSAGE = _descriptor.Descriptor(
+  name='StatusMessage',
+  full_name='StatusMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='StatusMessage.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='StatusMessage.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=2,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
+      number=3, type=6, cpp_type=4, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='status', full_name='StatusMessage.status', index=3,
+      number=4, type=14, cpp_type=8, label=2,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+    _STATUSMESSAGE_STATUS,
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto2',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=25,
+  serialized_end=283,
+)
+
+_STATUSMESSAGE.fields_by_name['status'].enum_type = _STATUSMESSAGE_STATUS
+_STATUSMESSAGE_STATUS.containing_type = _STATUSMESSAGE
+DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
+
+StatusMessage = _reflection.GeneratedProtocolMessageType('StatusMessage', (_message.Message,), dict(
+  DESCRIPTOR = _STATUSMESSAGE,
+  __module__ = 'status_message_pb2'
+  # @@protoc_insertion_point(class_scope:StatusMessage)
+  ))
+_sym_db.RegisterMessage(StatusMessage)
+
+
+# @@protoc_insertion_point(module_scope)
diff --git a/utils/py_serial_examples/transmit.py b/utils/py_serial_examples/transmit.py
index 568c31c..1c345d4 100644
--- a/utils/py_serial_examples/transmit.py
+++ b/utils/py_serial_examples/transmit.py
@@ -20,11 +20,10 @@ print("open port")
 ang_vel_cmd = 0.8
 lin_vel_cmd = 0.5
 while 1:
-	msg_output_buffer = struct.pack('<ff', lin_vel_cmd, ang_vel_cmd)
-	ser.write(msg_output_buffer)
-	print(ang_vel_cmd)
-	print(lin_vel_cmd)
-	ang_vel_cmd = ang_vel_cmd + 0.1
-	lin_vel_cmd = lin_vel_cmd + 0.1
-	ser.reset_output_buffer()
-	time.sleep(3)
+  print(ang_vel_cmd)
+  print(lin_vel_cmd)
+  ang_vel_cmd = ang_vel_cmd + 0.1
+  lin_vel_cmd = lin_vel_cmd + 0.1
+  msg_output_buffer = struct.pack('<ff', lin_vel_cmd, ang_vel_cmd)
+  ser.write(msg_output_buffer)
+  ser.reset_output_buffer()
diff --git a/utils/py_serial_examples/velocity_command_pb2.py b/utils/py_serial_examples/velocity_command_pb2.py
new file mode 100644
index 0000000..53fce6f
--- /dev/null
+++ b/utils/py_serial_examples/velocity_command_pb2.py
@@ -0,0 +1,76 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: velocity_command.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf import descriptor_pb2
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='velocity_command.proto',
+  package='',
+  syntax='proto3',
+  serialized_pb=_b('\n\x16velocity_command.proto\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x01(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x01(\x02\x62\x06proto3')
+)
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+
+
+
+_VELOCITYCOMMAND = _descriptor.Descriptor(
+  name='VelocityCommand',
+  full_name='VelocityCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=26,
+  serialized_end=94,
+)
+
+DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
+
+VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
+  DESCRIPTOR = _VELOCITYCOMMAND,
+  __module__ = 'velocity_command_pb2'
+  # @@protoc_insertion_point(class_scope:VelocityCommand)
+  ))
+_sym_db.RegisterMessage(VelocityCommand)
+
+
+# @@protoc_insertion_point(module_scope)
-- 
2.52.0