def _writeData(self, command, device, params=()):
        """
        Write the data to the device.

        :Parameters:
          command : `int`
            The command to write to the device.
          device : `int`
            The device is the integer number of the hardware devices ID and
            is only used with the Pololu Protocol.
          params : `tuple`
            Sequence of bytes to write.

        :Exceptions:
          * `SerialTimeoutException`
            If the low level serial package times out.
          * `SerialException`
            IO error when the port is not open.
        """
        sequence = []

        if self._compact:
            sequence.append(command | 0x80)
        else:
            sequence.append(self._BAUD_DETECT)
            sequence.append(device)
            sequence.append(command)

        for param in params:
            sequence.append(param)

        if self._crc:
            sequence.append(crc7(sequence))

        self._serial.write(bytearray(sequence))
        self._log and self._log.debug("Wrote byte sequence: %s",
                                      [hex(num) for num in sequence])
Write the data to the device.

        :Parameters:
          command : `int`
            The command to write to the device.
          device : `int`
            The device is the integer number of the hardware devices ID and
            is only used with the Pololu Protocol.
          params : `tuple`
            Sequence of bytes to write.

        :Exceptions:
          * `SerialTimeoutException`
            If the low level serial package times out.
          * `SerialException`
            IO error when the port is not open.