Each NMEA sentence start with $ and stop with Checksum after the * 
The 5 DIGITS are RM followed by the class name and , separator.

The main message send by DUE each 500ms OdometryX , Y Yaw etc are not use for the moment (for localisation in the fututr)
$RMSTA,3989813,6,-862.66,731.52,-0.96,28.76,-0.96,0.13,-0.02,22.5*75

class STA(TalkerSentence):
    """ non stop message from DUE to PI  for state, localisation etc....
    """
    fields = (
        ("Millis", "millis"),
        ("State", "state"),
        ("OdometryX", "odox"),
	    ("OdometryY", "odoy"),
	    ("PrevYaw", "prevYaw"),
        ("BatVoltage", "batVoltage"),
        ("ActualYaw", "yaw"),
        ("ActualPitch", "pitch"),
        ("ActualRoll", "roll"),
        ("DHT22Temp", "Dht22Temp"),
        
		
    )
	
	
--------------------------------------------------------------------------------------------------------------------------------------------

	
The request message send by PI only if needed
$RMREQ,MOT,5,1,10000,0,0,0*26

In this example It's use for plotting the motor at 5 Hz and stop after sending 10000 values
Message_type is use to identity the actuator : MOT for motor or BAT for batterie or PER for  perimeter etc.....

class REQ(TalkerSentence):
    """ pi request information on DUE 
    """
    fields = (
        ("Message_type", "message_type"),
       	("Frequency", "frequency"),
	("Trigger", "trigger"),
	("Max_repetiton", "max_repetition"),
	("Val4", "val4"),
	("Val5", "val5"),
	("Val6", "val6"),
	("Val7", "val7"),
	
		
    )
	
Here the response of the DUE after a request is received
$RMMOT,1761110,0.00,0.00,0,0,24.40,*78
For drive motor 
class MOT(TalkerSentence):
    """ non stop message from DUE to PI  for wheel motor plot and visu etc....
    """
    fields = (
        ("Millis", "millis"),
        ("motorLeftSenseCurrent", "motorLeftSenseCurrent"),
        ("motorRightSenseCurrent", "motorRightSenseCurrent"),
	("motorLeftPWMCurr", "motorLeftPWMCurr"),
	("motorRightPWMCurr", "motorRightPWMCurr"),
        ("BatVoltage", "batVoltage"),
    )
For perimeter	
class PER(TalkerSentence):
    """ non stop message from DUE to PI  for perimater plot and visu etc....
    """
    fields = (
        ("Millis", "millis"),
        ("perimeterMag", "perimeterMag"),
        ("perimeterMagRight", "perimeterMagRight"),
		
    )
For batterie    
class BAT(TalkerSentence):
    """ non stop message from DUE to PI  for battery plot and visu etc....
    """
    fields = (
        ("Millis", "millis"),
        ("batVoltage", "batVoltage"),
        ("chgVoltage", "chgVoltage"),
	("chgSense", "chgSense"),
	
    )
For Mow Motor	
class MOW(TalkerSentence):
    """ non stop message from DUE to PI  for mow motor plot and visu etc....
    """
    fields = (
        ("Millis", "millis"),
        ("motorMowSense", "motorMowSense"),
        ("motorMowPWMCurr", "motorMowPWMCurr"),
        ("BatVoltage", "batVoltage"),
 
For Bylane management
$RMBYL,2087202,0,3,2.33,-170.74,*5C
class BYL(TalkerSentence):
    """ non stop message from DUE to PI  for perimater plot and visu etc....
    """
    fields = (
        ("Millis", "millis"),
        ("rollDir", "rollDir"),
        ("laneInUse", "laneInUse"),
        ("YawActual", "YawActual"),
        ("YawCible", "YawCible"),
    )
For Info on statistique and firmware ver
class INF(TalkerSentence): #info return by due
    fields = (
        ("Millis", "millis"),
        ("Version", "version"),
       	("DeveloperActive", "developerActive"),
	("StatsOverride", "statsOverride"),
	("StatsMowTimeMinutesTrip", "statsMowTimeMinutesTrip"),
        ("StatsMowTimeHoursTotal", "statsMowTimeHoursTotal"),
	("StatsBatteryChargingCounterTotal", "statsBatteryChargingCounterTotal"),
        ("StatsBatteryChargingCapacityTrip", "statsBatteryChargingCapacityTrip"),
	("StatsBatteryChargingCapacityTotal", "statsBatteryChargingCapacityTotal"),
	("StatsBatteryChargingCapacityAverage", "statsBatteryChargingCapacityAverage"),
	
		
		
    ) 


--------------------------------------------------------------------------------------------------------------

Azurit use more than 100 Variables and the PI can set or save all.
13 Pages with 10 values are define 

$RMSET,All,w,1,0,1500,24,155,23.00,1.87,1.65,100,20,40*61
class SET(TalkerSentence):
    """ message between pi and due to request all the setting of setting_page, by page of 10 values
    """
    fields = (
        ("Setting_page", "setting_page"),
        ("ReadWrite", "readwrite"),
	("Nb_page", "nb_page"),
    ("Val1", "val1"),
	("Val2", "val2"),
	("Val3", "val3"),
	("Val4", "val4"),
	("Val5", "val5"),
	("Val6", "val6"),
	("Val7", "val7"),
	("Val8", "val8"),
	("Val9", "val9"),
	("Val10", "val10"),
		
    )
Here the DUE response
	$RMRET,All,1,0,1500,24,180,23.00,1.87,1.65,100,20,40,*1F
class RET(TalkerSentence):
    """ immediate response from DUE to PI to send all the setting of request in setting mode by page of 10 values
    """
    fields = (
        ("Setting_page", "setting_page"),
        ("PageNr", "pageNr"),
	("Val1", "val1"),
	("Val2", "val2"),
	("Val3", "val3"),
	("Val4", "val4"),
	("Val5", "val5"),
	("Val6", "val6"),
	("Val7", "val7"),
	("Val8", "val8"),
	("Val9", "val9"),
	("Val10", "val10"),
		
    )

	
------------------------------------------------------------------------------------------------------------------	

Here to start or stop directly actuator.
Start the mow motor example
 
$RMCMD,mowmotor,0,0,0,0*67  
class CMD(TalkerSentence):
    """ Use to SET or rest an actuator
    """
    fields = (
        ("ActuatorName", "actuatorname"),
       	("Val1", "val1"),
	("Val2", "val2"),
	("Val3", "val3"),
	("Val4", "val4"),
	
		
    )

--------------------------------------------------------------------------------------------------------------------
Here can force a variable value
Write 155 to the motorSpeedMaxPwm
$RMVAR,w,motorSpeedMaxPwm,155,0,0,0,0,0,0,0*1E 
class VAR(TalkerSentence):
    """ read or write follow by 4 time variable name follow by value to directly change something 0 to variable not use
    """
    fields = (
        ("ReadWrite", "readwrite"),
        ("Var1Name", "var1name"),
        ("Var1Value", "var1value"),
        ("Var2Name", "var2name"),
        ("Var2Value", "var2value"),
        ("Var3Name", "var3name"),
        ("Var3Value", "var3value"),
        ("Var4Name", "var4name"),
        ("Var4Value", "var4value"),
        ("EndValue", "endvalue"),
        
       
    )

	
Here are the class for the GPS not use because GPS run as service into other thread

class GGA(TalkerSentence, ValidGGAFix, LatLonFix):
    fields = (
        ('Timestamp', 'timestamp', timestamp),
        ('Latitude', 'lat'),
        ('Latitude Direction', 'lat_dir'),
        ('Longitude', 'lon'),
        ('Longitude Direction', 'lon_dir'),
        ('GPS Quality Indicator', 'gps_qual', int),
        ('Number of Satellites in use', 'num_sats'),
        ('Horizontal Dilution of Precision', 'horizontal_dil'),
        ('Antenna Alt above sea level (mean)', 'altitude', float),
        ('Units of altitude (meters)', 'altitude_units'),
        ('Geoidal Separation', 'geo_sep'),
        ('Units of Geoidal Separation (meters)', 'geo_sep_units'),
        ('Age of Differential GPS Data (secs)', 'age_gps_data'),
        ('Differential Reference Station ID', 'ref_station_id'),
    )


class RMC(TalkerSentence, ValidStatusFix, LatLonFix, DatetimeFix):
    """ Recommended Minimum Specific GPS/TRANSIT Data
    """
    fields = (
        ("Timestamp", "timestamp", timestamp),
        ('Status', 'status'), # contains the 'A' or 'V' flag
        ("Latitude", "lat"),
        ("Latitude Direction", "lat_dir"),
        ("Longitude", "lon"),
        ("Longitude Direction", "lon_dir"),
        ("Speed Over Ground", "spd_over_grnd", float),
        ("True Course", "true_course", float),
        ("Datestamp", "datestamp", datestamp),
        ("Magnetic Variation", "mag_variation"),
        ("Magnetic Variation Direction", "mag_var_dir"),
    )