# Motor, Focus & Track Commands

## MotorControlProto — Module MOTOR (ID=6, base 14000)

### ReqMotorRun — Run Motor

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |
| `speed` | 2 | int32 | Speed |
| `direction` | 3 | int32 | Direction |
| `speedRamping` | 4 | bool | Speed ramping enabled |
| `resolutionLevel` | 5 | int32 | Resolution level |

### ReqMotorStop — Stop Motor

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |

### ReqMotorRunTo — Move to Position

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |
| `endPosition` | 2 | double | Target position |
| `speed` | 3 | int32 | Speed |
| `speedRamping` | 4 | bool | Speed ramping |
| `resolutionLevel` | 5 | int32 | Resolution level |

### ReqMotorRunInPulse — Pulse Mode

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |
| `frequency` | 2 | int32 | Frequency |
| `direction` | 3 | int32 | Direction |
| `speedRamping` | 4 | bool | Speed ramping |
| `resolution` | 5 | int32 | Resolution |
| `pulse` | 6 | int32 | Pulse count |
| `mode` | 7 | int32 | Mode |

### ReqMotorChangeSpeed — Change Speed

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |
| `speed` | 2 | int32 | New speed |

### ReqMotorChangeDirection — Change Direction

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |
| `direction` | 2 | int32 | New direction |

### ReqMotorReset — Reset Motor

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |
| `direction` | 2 | int32 | Reset direction |

### ReqMotorGetPosition — Get Position

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Motor ID |

### ReqMotorServiceJoystick — Joystick Control

| Field | # | Type | Description |
|-------|---|------|-------------|
| `vectorAngle` | 1 | int32 | Joystick angle |
| `vectorLength` | 2 | int32 | Joystick magnitude |

### ReqMotorServiceJoystickFixedAngle — Fixed-Angle Joystick

| Field | # | Type | Description |
|-------|---|------|-------------|
| `vectorAngle` | 1 | int32 | Angle |
| `vectorLength` | 2 | int32 | Magnitude |

### ReqMotorServiceJoystickStop — Stop Joystick (no fields)

### ReqDualCameraLinkage — Dual Camera Linkage

| Field | # | Type | Description |
|-------|---|------|-------------|
| `x` | 1 | int32 | X position |
| `y` | 2 | int32 | Y position |

### Responses

- **ResMotor**: `id` (int32, #1) + `code` (int32, #2)
- **ResMotorPosition**: `id` (int32, #1) + `code` (int32, #2) + `position` (double, #3)

### Command IDs

| ID | Command |
|----|---------|
| 14000 | STEP_MOTOR_RUN |
| 14002 | STEP_MOTOR_STOP |
| 14006 | STEP_MOTOR_SERVICE_JOYSTICK |
| 14007 | STEP_MOTOR_SERVICE_JOYSTICK_FIXED_ANGLE |
| 14008 | STEP_MOTOR_SERVICE_JOYSTICK_STOP |
| 14009 | STEP_MOTOR_SERVICE_DUAL_CAMERA_LINKAGE |

> **Note**: IDs 14001, 14003-14005 are not assigned.

---

## FocusProto — Module FOCUS (ID=8, base 15000)

### ReqAstroAutoFocus — Astro Autofocus

| Field | # | Type | Description |
|-------|---|------|-------------|
| `mode` | 1 | int32 | Focus mode |

### ReqStopAstroAutoFocus — No fields

### ReqNormalAutoFocus — Normal Autofocus

| Field | # | Type | Description |
|-------|---|------|-------------|
| `mode` | 1 | int32 | Focus mode |
| `centerX` | 2 | int32 | Focus center X |
| `centerY` | 3 | int32 | Focus center Y |

### ReqManualSingleStepFocus — Step Focus

| Field | # | Type | Description |
|-------|---|------|-------------|
| `direction` | 1 | int32 | Direction |

### ReqManualContinuFocus — Continuous Focus

| Field | # | Type | Description |
|-------|---|------|-------------|
| `direction` | 1 | int32 | Direction |

### ReqStopManualContinuFocus — No fields

### ReqGetUserInfinityPos — No fields

### ReqSetUserInfinityPos

| Field | # | Type | Description |
|-------|---|------|-------------|
| `pos` | 1 | int32 | Infinity position |

### ResUserInfinityPos

| Field | # | Type | Description |
|-------|---|------|-------------|
| `code` | 1 | int32 | Status code |
| `pos` | 2 | int32 | Position |

### Command IDs

| ID | Command |
|----|---------|
| 15000 | FOCUS_AUTO_FOCUS |
| 15001 | FOCUS_MANUAL_SINGLE_STEP_FOCUS |
| 15002 | FOCUS_START_MANUAL_CONTINU_FOCUS |
| 15003 | FOCUS_STOP_MANUAL_CONTINU_FOCUS |
| 15004 | FOCUS_START_ASTRO_AUTO_FOCUS |
| 15005 | FOCUS_STOP_ASTRO_AUTO_FOCUS |
| 15011 | FOCUS_GET_USER_INFINITY_POS |
| 15012 | FOCUS_SET_USER_INFINITY_POS |

> **Note**: IDs 15006-15010 are not assigned.

---

## TrackProto — Module TRACK (ID=7, base 14800)

### ReqStartTrack — Start Tracking

| Field | # | Type | Description |
|-------|---|------|-------------|
| `x` | 1 | int32 | X position |
| `y` | 2 | int32 | Y position |
| `w` | 3 | int32 | Width |
| `h` | 4 | int32 | Height |
| `camId` | 5 | int32 | Camera ID |

### ReqStartTrackClick — Click Tracking

| Field | # | Type | Description |
|-------|---|------|-------------|
| `x` | 1 | int32 | X position |
| `y` | 2 | int32 | Y position |
| `camId` | 3 | int32 | Camera ID |

### ReqStopTrack, ReqContinueTrack — No fields

### ReqMOTTrackOne — MOT Track One Target

| Field | # | Type | Description |
|-------|---|------|-------------|
| `id` | 1 | int32 | Target ID |

### ReqStartSentryMode — Start Sentry

| Field | # | Type | Description |
|-------|---|------|-------------|
| `type` | 1 | int32 | Sentry type |

### ReqStopSentryMode — No fields

### ReqUFOAutoHandMode — UFO Auto/Manual Mode

| Field | # | Type | Description |
|-------|---|------|-------------|
| `mode` | 1 | int32 | Mode (auto/manual) |

### Command IDs

| ID | Command |
|----|---------|
| 14800 | TRACK_START_TRACK |
| 14801 | TRACK_STOP_TRACK |
| 14802 | SENTRY_MODE_START |
| 14803 | SENTRY_MODE_STOP |
| 14804 | MOT_START |
| 14805 | MOT_TRACK_ONE |
| 14806 | UFOTRACK_MODE_START |
| 14807 | UFOTRACK_MODE_STOP |
| 14808 | MOT_WIDE_TRACK_ONE |
| 14809 | SWITCH_MAIN_PREVIEW |
| 14810 | UFO_HAND_AOTO_MODE |
| 14811 | SENTRY_SCENE_SELECT |
| 14812 | TRACK_START_CLICK |

> **Note**: `CMD_UFO_HAND_AOTO_MODE` — the "AOTO" spelling is as-is in the source code (typo for "AUTO").