Rail current/voltage, faults, protection limits, and every channel's name, mode, travel limits, speed and current position (0 = off).

Move one or more servos and wait until they arrive.

positions: {channel number or name: pulse width in us}, e.g. {"0": 1200}.
duration_s: time for all to arrive together (0 = each channel's own speed).
Positions are clamped to each channel's limits. Turns channels on if off.

Stop driving the given channels (numbers or names); the servos go limp.

Panic stop: every channel off immediately.

Poses and the sequence saved from the GUI (servogui.json).

Move to a saved pose (see list_poses) and wait until it arrives.

Play the GUI's saved sequence of poses (move and hold times as saved), repeated loops times. Stops early on a fault; capped at 120 s.

Read channel 0-7 as an analog input (0-4095 counts, 0-3.3 V).

Sample the servo-rail current continuously; returns peak, mean and min mA.

Set the rail trip limits (0 disables either). Overcurrent is capped at 7500 mA: the board's continuous budget is ~5 A. Resets at power-up.

Clear a latched overcurrent/undervoltage fault so channels can move again.

Compile a servo script and store it in the board's flash, where the firmware runs it without a PC (autorun: also start at every power-up).

One statement per line; channels by number or name; times in ms or '1.5s':
  label:                  jump/loop target
  move <ch> <us> [<time>] ramp there; does not wait: moves on different
                          channels run together, a repeat move of the
                          same channel waits for the previous one
  pose <name> [<time>]    move every channel of a GUI pose
  sync                    wait until all moves arrive
  wait <time>
  off <ch>|all
  loop <label> [<n>]      block runs n times in total; no n = forever
  jump <label>
  waitin <ch> >|< <0-4095>   wait for analog input ch (0-7)
  ifin <ch> >|< <0-4095>     run next statement only if true
  end
Positions are clamped to the channel limits. Max 254 instructions.

What script is stored on the board, and whether it is running.

Start the stored script from the top.

Stop the stored script; servos keep their positions (stop_all to let go).

Close the serial port now (servos keep holding) so the GUI or flash.py can use the board. It reopens automatically on the next tool call.