text: class Message:
      def __init__(self, b=None):
          if b is None:
              self.header = bytes([0xAA, 0xAA])
              self.len = 0x00
              self.ctrl = 0x00
              self.params = bytes([])
              self.checksum = None
          else:
              self.header = b[0:2]
              self.len = b[2]
              self.id = b[3]
              self.ctrl = b[4]
              self.params = b[5:-1]
              self.checksum = b[-1:][0]
  
      def __repr__(self):
          return "Message()"
  
      def __str__(self):
          self.refresh()
          ret = "%s:%d:%d:%d:%s:%s" % (self.header.hex(), self.len, self.id, self.ctrl, self.params.hex(), self.checksum)
          return ret.upper()
      #creare checksum
      def refresh(self):
          if self.checksum is None:
              self.checksum = self.id + self.ctrl
              for i in range(len(self.params)):
                  self.checksum += self.params[i]
              self.checksum = self.checksum % 256
              self.checksum = 2 ** 8 - self.checksum
              self.checksum = self.checksum % 256
              self.len = 0x02 + len(self.params)
      #return the message to send to dobot
      def bytes(self):
          self.refresh()
          if len(self.params) > 0:
              command = bytearray([0xAA, 0xAA, self.len, self.id, self.ctrl])
              command.extend(self.params)
              command.append(self.checksum)
          else:
              command = bytes([0xAA, 0xAA, self.len, self.id, self.ctrl, self.checksum])
          return command
  