set parameter oplet

High level Parameters in the Dexter Firmware are set with the "S" Oplet. For direct control of low level FPGA parameters, see the "w" Oplet

#	Name
0	"MaxSpeed" Maximum velocity of next move
1	"Acceleration" Maximum acceleration of next move
2	"J1Force" How hard each joint tries to return to commanded position in force protect modes
3	"J3Force"
4	"J2Force"
5	"J4Force"
6	"J5Force"
7	"J1Friction" *
8	"J3Friction"
9	"J2Friction"
10	"J4Friction"
11	"J5Friction"
12	"J1BoundryHigh"
13	"J1BoundryLow"
14	"J3BoundryHigh"
15	"J3BoundryLow"
16	"J2BoundryHigh"
17	"J2BoundryLow"
18	"J4BoundryHigh"
19	"J4BoundryLow"
20	"J5BoundryHigh"
21	"J5BoundryLow"
22	"GripperMotor" Set mode to use standard servo (not Dynamixel) as the 6th / 7th axis for Tool interface.
23	"EERoll" 6th axis position / Tool Interface Roll (was standard servo, May 29,2018 changed to Dynamixel)
24	"EESpan" 7th axis position / End Effector actuation (was standard servo, May 29,2018 changed to Dynamixel)
25	"StartSpeed" Velocity of entrance into next move
26	"EndSpeed" (not implemented)
27	"ServoSet2X" Address, Register, Value (as of May 29,2018 was "End") see: Servo
28	"ServoSet" Address, Register, String May 29,2018 (may not be working in FPGA?) Needed for Screen
29	"RebootServo" May 29,2018
30	"Ctrl" parms/values Aug 24, 2018 Allows very compact setting of a few values related to operational mode. (Depreciated, replaced with RunFile) "RunFile" FilePathName Oct 12, 2018 If it exists, the file will be opened and all instructions from it parsed and executed. By convention, files end with .make_ins extension. Each line should be one instruction just like any sent over the socket connection (the job, instruction, start, and end time values are NOT included; start with the oplet). A sample line might be S J1_PID_P 0.2 ; set base drive Anything after a ';' is ignored.
31	"J1_PID_P" Float Oct 12, 2018 Set Joint PID P with a floating point number. Helps with Issue #33
32	"J2_PID_P" "
33	"J3_PID_P" "
34	"J4_PID_P" "
35	"J5_PID_P" "
36	"EncoderAngles" (name subject to change) Sets the encoder angles in the form of a circle number index that Dexter thinks it is at. Where it is within a circle is done with encoder measurements and an atan2 calc which effectively cannot be set. Takes 5 signed integer arguments where 0 is the circle that contains 0 degrees. See read_from_robot, #EncoderAngles.
37	"CommandedAngles" Sets where Dexter thinks it is without actually moving the robot. Takes 5 angles in integer arcseconds. These are the same values that are returned in the robot status under *_AT.
38	"End" (not implemented)

* Frictions can be fractional, but are limited to a range of +-(256 + 1/256). E.g. 1.1 becomes 1 plus a fractional value of 25/256