Your commands can be either absolute, or relative to the last command. The problem with relative commands is that you may not know where the actuator is. This is especially true if it is possible for commands to be dropped. With absolute commands sending the same command will quickly remedy any problem with missing a command.Papa Bravo would not +1, 0 +1, 0 mean to increase to x value of +1 to neutral 0 back to increased x value back to 0 neutral value?? Most of the setups need to have at least 1270 bit resolution for smooth operations. Let me know I might have missed something