text: import time
  import math
  import o80
  import o80_pam
  
  
  # default id when starting pam_robot executable
  segment_id = "o80_pam_robot"
  frontend = o80_pam.FrontEnd(segment_id)
  
  # getting to 15000 one iteration at a time
  for iteration in range(15000):
      target = [iteration] * 4
      frontend.add_command(target, [0] * 4, o80.Mode.OVERWRITE)
      obs = frontend.burst(1)
      new_iteration = obs.get_iteration()
      desired = obs.get_desired_pressures()
      print(new_iteration, target, desired)
  
  # going back to 0 over 10000 iteration,
  # played in one burst
  current_iteration = frontend.latest().get_iteration()
  frontend.add_command(
      [0] * 4, [0] * 4, o80.Iteration(current_iteration + 10000), o80.Mode.QUEUE
  )
  frontend.burst(10000)
  