R2D2 Deagostini internal commands

Direction			String									Effect
Pi to CTRL board	{"cmd":"ready"}
Pi to CTRL board	{“cmd":"gin"}								Status request from Pi
Pi to CTRL board	{"g":1,"cmd":"led","b":X,"r":X,"y":X}		Led ctrl: blue then red and yellow, X = 1 OFF, X=2 ON, X=5 Blink, X=3 Blink
Pi to CTRL board	{"cmd":"mode","mode":0}
Pi to CTRL board	{“s":X,"l":X,"cmd":"lcd"}					Set lcd “s” for front and “l” for back to X, with X=1 OFF, X=2 ON
Pi to CTRL board	{"dir":1,"cmd":"head-dir"}					Turn head right 90º
Pi to CTRL board	{“dir":0,"cmd":"head-dir"}					Stop head?
Pi to CTRL board	{“dir":-1,"cmd":"head-dir"}					Turn head left 90º
Pi to CTRL board	{"cmd":"projector","mode":1}				Project Leia
Pi to CTRL board	{"cmd":"projector","mode":2}				Project Luke
Pi to CTRL board	{"cmd":"projector","mode":0}				Stop projector
Pi to CTRL board	{"power":100,"angle":0,"cmd":"move"}		Move forward max speed
Pi to CTRL board	{“angle":X,"cmd":"head-angle"}				Set head at angle X
Pi to CTRL board	{"power":0,"angle":0,"cmd":"move"}			Stop moving?
Pi to CTRL board	{"angle":0,"cmd":"head-angle"}				Set head facing forward
Pi to CTRL board	{"power":100,"angle":180,"cmd":"move"}		Turn around
Pi to CTRL board	{"power":100,"angle":-90,"cmd":"move"}		Turn left
Pi to CTRL board	{"power":100,"angle":90,"cmd":"move"}		Turn right
Pi to CTRL board	{"cmd":"mode","mode":5}						Full turn left ?
Pi to CTRL board	{"cmd":"mode","mode":4}						Turn left
Pi to CTRL board	{"cmd":"mode","mode":3}						Turn Right
Pi to CTRL board	{"cmd":"mode","mode":2}						Full turn right ?
Pi to CTRL board	{"cmd":"mode","mode":9}						Patrol
Pi to CTRL board	{"power":1,"cmd":"arm"}						Open arms
Pi to CTRL board	{“power":0,"cmd":"arm"}						Close arms
Pi to CTRL board	{"cmd":"shut-down"}							Shutdown request
Pi to CTRL board	{"power":1,"cmd":"lightsaber"}				Lightsaber up
Pi to CTRL board	{“power":0,"cmd":"lightsaber"}				Lightsaber down

CTRL Board to Pi	{"cmd":"ready"}
CTRL Board to Pi	{"cmd":"btn", “value":X}					Button pressed, X=1 (bottom) to 6
CTRL Board to Pi
"{"cmd":"gin", "batt":97, "charging-status":0, "status":0, "mode":3,"arm":0, "lightsaber":0, "projector":0,"lcd_s":1,lcd_l":1,"mode":3, "charging_status":0,"error":"NO ERROR"}
"
R2D2 status