For the motor, the protocol will be as follows:
s<space><pwm_value_of_motor_1><space><pwm_value_of_motor_2>
For resetting the device, the protocol will be as follows:
r<space>
We can check the serial values from the LaunchPad using a command line tool called miniterm.py. This tool can view the serial data coming from a device. This script is already installed with the python-serial package, which is installed along with the rosserial-python Debian package. The following command will display the serial values from the robot controller:
$ miniterm.py /dev/ttyACM0 115200
We will get values like the following screenshot:
![](http://imgdetail.ebookreading.net/hardware/2/9781788627436/9781788627436__ros-programming-building__9781788627436__assets__488f8de2-ef69-47a1-875e-701956ca2124.png)
Figure 4: Checking serial data using miniterm.py