From b3c330640b3f3adf29d2c7635e055a8e3173ffc1 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:31:17 -0500
Subject: [PATCH 01/16] add rttrpm encoder

---
 src/encoders/index.ts         |  4 +++-
 src/encoders/motion/rttrpm.ts | 30 ++++++++++++++++++++++++++++++
 2 files changed, 33 insertions(+), 1 deletion(-)
 create mode 100644 src/encoders/motion/rttrpm.ts

diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index 15fcaa5..1fd0c55 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -1,5 +1,7 @@
-import RTTrPHeader from './rttrp';
+import RTTrPM from './motion/rttrpm';
+import RTTrPHeader from './rttrp-header';
 
 export const Encoders = {
   RTTrPHeader,
+  RTTrPM,
 };
diff --git a/src/encoders/motion/rttrpm.ts b/src/encoders/motion/rttrpm.ts
new file mode 100644
index 0000000..ce9e5f3
--- /dev/null
+++ b/src/encoders/motion/rttrpm.ts
@@ -0,0 +1,30 @@
+import RTTrPHeader from '../rttrp-header';
+
+export default (
+  packetId: number,
+  context: number,
+  trackables: Uint8Array[],
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  let totalPacketSize = 18; //header size
+
+  trackables.forEach((trackable) => {
+    totalPacketSize += trackable.length;
+  });
+  console.log(totalPacketSize);
+  const bytes = new Uint8Array(totalPacketSize);
+
+  let dataOffset = 0;
+
+  const headerBytes = RTTrPHeader(0x4334, 0x02, packetId, 0x00, context, trackables, isLittleEndian);
+  console.log(headerBytes.length);
+
+  bytes.set(headerBytes, dataOffset);
+  dataOffset += headerBytes.length;
+  trackables.forEach((trackable) => {
+    console.log('dataOffset', dataOffset);
+    bytes.set(trackable, dataOffset);
+    dataOffset += trackable.length;
+  });
+  return bytes;
+};

From 07f46432c619e76ccb32aa182851589fa0e89370 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:32:19 -0500
Subject: [PATCH 02/16] add encoder for trackable sub module

---
 src/encoders/index.ts            |  2 ++
 src/encoders/motion/trackable.ts | 47 ++++++++++++++++++++++++++++++++
 2 files changed, 49 insertions(+)
 create mode 100644 src/encoders/motion/trackable.ts

diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index 1fd0c55..b9f358a 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -1,7 +1,9 @@
 import RTTrPM from './motion/rttrpm';
+import Trackable from './motion/trackable';
 import RTTrPHeader from './rttrp-header';
 
 export const Encoders = {
   RTTrPHeader,
   RTTrPM,
+  Trackable,
 };
diff --git a/src/encoders/motion/trackable.ts b/src/encoders/motion/trackable.ts
new file mode 100644
index 0000000..3349ae6
--- /dev/null
+++ b/src/encoders/motion/trackable.ts
@@ -0,0 +1,47 @@
+const textEncoder = new TextEncoder();
+
+export default (
+  name: string,
+  subModules: Uint8Array[],
+  timestamp?: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  let totalTrackableSize = 1 + 2 + 1 + name.length + 1;
+  let type = 0x01;
+  if (timestamp !== undefined) {
+    totalTrackableSize += 4;
+    type = 0x51;
+  }
+  subModules.forEach((subModule) => {
+    totalTrackableSize += subModule.length;
+  });
+  const bytes = new Uint8Array(totalTrackableSize);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, type);
+  dataOffset += 1;
+  view.setUint16(dataOffset, totalTrackableSize, isLittleEndian);
+  dataOffset += 2;
+  const nameBytes = textEncoder.encode(name);
+  view.setUint8(dataOffset, nameBytes.length);
+  dataOffset += 1;
+
+  nameBytes.forEach((byte) => {
+    view.setUint8(dataOffset, byte);
+    dataOffset += 1;
+  });
+
+  if (timestamp !== undefined) {
+    view.setUint32(dataOffset, timestamp, isLittleEndian);
+    dataOffset += 4;
+  }
+
+  view.setUint8(dataOffset, subModules.length);
+  dataOffset += 1;
+  subModules.forEach((subModule) => {
+    bytes.set(subModule, dataOffset);
+    dataOffset += subModule.length;
+  });
+  return new Uint8Array(view.buffer, view.byteOffset, view.byteLength);
+};

From 7b966bc25cc449eef0878e36bb1cc1c5c19e798c Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:32:50 -0500
Subject: [PATCH 03/16] add encoder for centroid position  sub module

---
 src/encoders/index.ts                    |  2 ++
 src/encoders/motion/centroid-position.ts | 18 ++++++++++++++++++
 2 files changed, 20 insertions(+)
 create mode 100644 src/encoders/motion/centroid-position.ts

diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index b9f358a..b3164a0 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -1,3 +1,4 @@
+import CentroidPosition from './motion/centroid-position';
 import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
 import RTTrPHeader from './rttrp-header';
@@ -6,4 +7,5 @@ export const Encoders = {
   RTTrPHeader,
   RTTrPM,
   Trackable,
+  CentroidPosition,
 };
diff --git a/src/encoders/motion/centroid-position.ts b/src/encoders/motion/centroid-position.ts
new file mode 100644
index 0000000..da271ef
--- /dev/null
+++ b/src/encoders/motion/centroid-position.ts
@@ -0,0 +1,18 @@
+export default (latency: number, x: number, y: number, z: number, isLittleEndian: boolean = false): Uint8Array => {
+  const bytes = new Uint8Array(29);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x02);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, x, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, y, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, z, isLittleEndian);
+  return bytes;
+};

From b99a0224e8fe2a15783362426a1d2ca55261987f Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:33:41 -0500
Subject: [PATCH 04/16] add encoder for orientation sub modules

---
 src/encoders/index.ts                         |  4 +++
 src/encoders/motion/orientation-euler.ts      | 27 +++++++++++++++++++
 src/encoders/motion/orientation-quaternion.ts | 27 +++++++++++++++++++
 3 files changed, 58 insertions(+)
 create mode 100644 src/encoders/motion/orientation-euler.ts
 create mode 100644 src/encoders/motion/orientation-quaternion.ts

diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index b3164a0..55be6cf 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -1,4 +1,6 @@
 import CentroidPosition from './motion/centroid-position';
+import OrientationEuler from './motion/orientation-euler';
+import OrientationQuaternion from './motion/orientation-quaternion';
 import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
 import RTTrPHeader from './rttrp-header';
@@ -8,4 +10,6 @@ export const Encoders = {
   RTTrPM,
   Trackable,
   CentroidPosition,
+  OrientationQuaternion,
+  OrientationEuler,
 };
diff --git a/src/encoders/motion/orientation-euler.ts b/src/encoders/motion/orientation-euler.ts
new file mode 100644
index 0000000..7890170
--- /dev/null
+++ b/src/encoders/motion/orientation-euler.ts
@@ -0,0 +1,27 @@
+export default (
+  latency: number,
+  order: number,
+  R1: number,
+  R2: number,
+  R3: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(31);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x04);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, order, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, R1, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, R2, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, R3, isLittleEndian);
+  return bytes;
+};
diff --git a/src/encoders/motion/orientation-quaternion.ts b/src/encoders/motion/orientation-quaternion.ts
new file mode 100644
index 0000000..64a8206
--- /dev/null
+++ b/src/encoders/motion/orientation-quaternion.ts
@@ -0,0 +1,27 @@
+export default (
+  latency: number,
+  Qx: number,
+  Qy: number,
+  Qz: number,
+  Qw: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(37);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x03);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, Qx, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qy, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qz, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qw, isLittleEndian);
+  return bytes;
+};

From 488aa81ad6f5d654ca81a3f3458a95428b169b58 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:34:41 -0500
Subject: [PATCH 05/16] add encoder for tracked point position  sub module

---
 src/encoders/index.ts                         |  2 ++
 src/encoders/motion/tracked-point-position.ts | 28 +++++++++++++++++++
 2 files changed, 30 insertions(+)
 create mode 100644 src/encoders/motion/tracked-point-position.ts

diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index 55be6cf..e174b89 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -3,6 +3,7 @@ import OrientationEuler from './motion/orientation-euler';
 import OrientationQuaternion from './motion/orientation-quaternion';
 import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
+import TrackedPointPosition from './motion/tracked-point-position';
 import RTTrPHeader from './rttrp-header';
 
 export const Encoders = {
@@ -12,4 +13,5 @@ export const Encoders = {
   CentroidPosition,
   OrientationQuaternion,
   OrientationEuler,
+  TrackedPointPosition,
 };
diff --git a/src/encoders/motion/tracked-point-position.ts b/src/encoders/motion/tracked-point-position.ts
new file mode 100644
index 0000000..f13f2c4
--- /dev/null
+++ b/src/encoders/motion/tracked-point-position.ts
@@ -0,0 +1,28 @@
+export default (
+  latency: number,
+  x: number,
+  y: number,
+  z: number,
+  index: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(30);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x06);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, x, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, y, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, z, isLittleEndian);
+  dataOffset += 8;
+  view.setUint8(dataOffset, index);
+
+  return bytes;
+};

From 5ac515bf8a3feea7bb5080208e960c3b66950a7b Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:35:10 -0500
Subject: [PATCH 06/16] add encoder for accel velocity  sub modules

---
 src/encoders/index.ts                         |  4 ++
 .../motion/centroid-accel-velocity.ts         | 43 +++++++++++++++++
 .../motion/tracked-point-accel-velocity.ts    | 46 +++++++++++++++++++
 3 files changed, 93 insertions(+)
 create mode 100644 src/encoders/motion/centroid-accel-velocity.ts
 create mode 100644 src/encoders/motion/tracked-point-accel-velocity.ts

diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index e174b89..bde4ce3 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -1,8 +1,10 @@
+import CentroidAccelVelocity from './motion/centroid-accel-velocity';
 import CentroidPosition from './motion/centroid-position';
 import OrientationEuler from './motion/orientation-euler';
 import OrientationQuaternion from './motion/orientation-quaternion';
 import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
+import TrackedPointAccelVelocity from './motion/tracked-point-accel-velocity';
 import TrackedPointPosition from './motion/tracked-point-position';
 import RTTrPHeader from './rttrp-header';
 
@@ -14,4 +16,6 @@ export const Encoders = {
   OrientationQuaternion,
   OrientationEuler,
   TrackedPointPosition,
+  CentroidAccelVelocity,
+  TrackedPointAccelVelocity,
 };
diff --git a/src/encoders/motion/centroid-accel-velocity.ts b/src/encoders/motion/centroid-accel-velocity.ts
new file mode 100644
index 0000000..c98cfa4
--- /dev/null
+++ b/src/encoders/motion/centroid-accel-velocity.ts
@@ -0,0 +1,43 @@
+export default (
+  x: number,
+  y: number,
+  z: number,
+  accelX: number,
+  accelY: number,
+  accelZ: number,
+  velocityX: number,
+  velocityY: number,
+  velocityZ: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(51);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x02);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+
+  view.setFloat64(dataOffset, x, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, y, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, z, isLittleEndian);
+  dataOffset += 8;
+
+  view.setFloat32(dataOffset, accelX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelZ, isLittleEndian);
+  dataOffset += 4;
+
+  view.setFloat32(dataOffset, velocityX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityZ, isLittleEndian);
+
+  return bytes;
+};
diff --git a/src/encoders/motion/tracked-point-accel-velocity.ts b/src/encoders/motion/tracked-point-accel-velocity.ts
new file mode 100644
index 0000000..815c802
--- /dev/null
+++ b/src/encoders/motion/tracked-point-accel-velocity.ts
@@ -0,0 +1,46 @@
+export default (
+  x: number,
+  y: number,
+  z: number,
+  accelX: number,
+  accelY: number,
+  accelZ: number,
+  velocityX: number,
+  velocityY: number,
+  velocityZ: number,
+  index: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(52);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x02);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+
+  view.setFloat64(dataOffset, x, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, y, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, z, isLittleEndian);
+  dataOffset += 8;
+
+  view.setFloat32(dataOffset, accelX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, accelZ, isLittleEndian);
+  dataOffset += 4;
+
+  view.setFloat32(dataOffset, velocityX, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityY, isLittleEndian);
+  dataOffset += 4;
+  view.setFloat32(dataOffset, velocityZ, isLittleEndian);
+  dataOffset += 4;
+  view.setUint8(dataOffset, index);
+
+  return bytes;
+};

From f35648659f929845dd844d0f557b4ddfc7bc059f Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:51:20 -0500
Subject: [PATCH 07/16] add encoder for zone sub modules

---
 src/encoders/index.ts                         |  4 ++++
 .../motion/zone-collision-detection.ts        | 23 +++++++++++++++++++
 src/encoders/motion/zone-object.ts            | 20 ++++++++++++++++
 3 files changed, 47 insertions(+)
 create mode 100644 src/encoders/motion/zone-collision-detection.ts
 create mode 100644 src/encoders/motion/zone-object.ts

diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index bde4ce3..77121f3 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -6,6 +6,8 @@ import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
 import TrackedPointAccelVelocity from './motion/tracked-point-accel-velocity';
 import TrackedPointPosition from './motion/tracked-point-position';
+import ZoneCollisionDetection from './motion/zone-collision-detection';
+import ZoneObject from './motion/zone-object';
 import RTTrPHeader from './rttrp-header';
 
 export const Encoders = {
@@ -18,4 +20,6 @@ export const Encoders = {
   TrackedPointPosition,
   CentroidAccelVelocity,
   TrackedPointAccelVelocity,
+  ZoneCollisionDetection,
+  ZoneObject,
 };
diff --git a/src/encoders/motion/zone-collision-detection.ts b/src/encoders/motion/zone-collision-detection.ts
new file mode 100644
index 0000000..8c37ddc
--- /dev/null
+++ b/src/encoders/motion/zone-collision-detection.ts
@@ -0,0 +1,23 @@
+export default (zoneObjectModules: Uint8Array[], isLittleEndian: boolean = false): Uint8Array => {
+  let totalZoneModuleSize = 1 + 2 + 1;
+
+  zoneObjectModules.forEach((zoneObjectModule) => {
+    totalZoneModuleSize += zoneObjectModule.byteLength;
+  });
+
+  const bytes = new Uint8Array(totalZoneModuleSize);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x22);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint8(dataOffset, zoneObjectModules.length);
+  dataOffset += 1;
+  zoneObjectModules.forEach((zoneObjectModule) => {
+    bytes.set(zoneObjectModule, dataOffset);
+    dataOffset += zoneObjectModule.length;
+  });
+  return bytes;
+};
diff --git a/src/encoders/motion/zone-object.ts b/src/encoders/motion/zone-object.ts
new file mode 100644
index 0000000..e9731c1
--- /dev/null
+++ b/src/encoders/motion/zone-object.ts
@@ -0,0 +1,20 @@
+const textEncoder = new TextEncoder();
+
+export default (name: string): Uint8Array => {
+  const totalZoneObjectModuleSize = 1 + 1 + name.length;
+  const bytes = new Uint8Array(totalZoneObjectModuleSize);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, totalZoneObjectModuleSize);
+  dataOffset += 1;
+  view.setUint8(dataOffset, name.length);
+  dataOffset += 1;
+
+  const nameBytes = textEncoder.encode(name);
+  nameBytes.forEach((byte) => {
+    view.setUint8(dataOffset, byte);
+    dataOffset += 1;
+  });
+  return bytes;
+};

From cd7a5f4b89822417e5b5a3a41cb160d07c46de4b Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:58:32 -0500
Subject: [PATCH 08/16] start on encode example

---
 example/encode.js | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 example/encode.js

diff --git a/example/encode.js b/example/encode.js
new file mode 100644
index 0000000..65495fc
--- /dev/null
+++ b/example/encode.js
@@ -0,0 +1,18 @@
+const { Encoders } = require('../');
+const dgram = require('dgram');
+
+const motionBytes = Encoders.RTTrPM(0x01, 0x12345678, [
+  Encoders.Trackable('Test', [Encoders.CentroidPosition(100, 1.0, 2.0, 3.0)], undefined),
+]);
+console.log(motionBytes);
+
+const socket = dgram.createSocket('udp4');
+
+socket.send(motionBytes, 3434, '127.0.0.1', (error) => {
+  if (error) {
+    console.error(error);
+  }
+  socket.close(() => {
+    process.exit();
+  });
+});

From c1bb84695f8f990a94f624f8cec4915c83c72596 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 08:59:24 -0500
Subject: [PATCH 09/16] fix syntax error in models

---
 src/models.ts | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/models.ts b/src/models.ts
index 67745f7..6e65521 100644
--- a/src/models.ts
+++ b/src/models.ts
@@ -8,4 +8,3 @@ export type RTTrPHeader = {
   context: number;
   subModuleCount: number;
 };
-};

From d4f6e1c651968c843bdabda5581837b99af3eb44 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 09:08:17 -0500
Subject: [PATCH 10/16] fix types on velocity sub modules

---
 src/encoders/motion/centroid-accel-velocity.ts      | 2 +-
 src/encoders/motion/tracked-point-accel-velocity.ts | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/encoders/motion/centroid-accel-velocity.ts b/src/encoders/motion/centroid-accel-velocity.ts
index c98cfa4..aedd91f 100644
--- a/src/encoders/motion/centroid-accel-velocity.ts
+++ b/src/encoders/motion/centroid-accel-velocity.ts
@@ -14,7 +14,7 @@ export default (
   const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
 
   let dataOffset = 0;
-  view.setUint8(dataOffset, 0x02);
+  view.setUint8(dataOffset, 0x20);
   dataOffset += 1;
   view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
   dataOffset += 2;
diff --git a/src/encoders/motion/tracked-point-accel-velocity.ts b/src/encoders/motion/tracked-point-accel-velocity.ts
index 815c802..c8e4e0a 100644
--- a/src/encoders/motion/tracked-point-accel-velocity.ts
+++ b/src/encoders/motion/tracked-point-accel-velocity.ts
@@ -15,7 +15,7 @@ export default (
   const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
 
   let dataOffset = 0;
-  view.setUint8(dataOffset, 0x02);
+  view.setUint8(dataOffset, 0x21);
   dataOffset += 1;
   view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
   dataOffset += 2;

From 14d27dfc6274513887b1c0280a235eb48d4c3f25 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 09:16:28 -0500
Subject: [PATCH 11/16] cleanup logging

---
 src/encoders/motion/rttrpm.ts | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/encoders/motion/rttrpm.ts b/src/encoders/motion/rttrpm.ts
index ce9e5f3..6c2ab41 100644
--- a/src/encoders/motion/rttrpm.ts
+++ b/src/encoders/motion/rttrpm.ts
@@ -11,18 +11,15 @@ export default (
   trackables.forEach((trackable) => {
     totalPacketSize += trackable.length;
   });
-  console.log(totalPacketSize);
   const bytes = new Uint8Array(totalPacketSize);
 
   let dataOffset = 0;
 
   const headerBytes = RTTrPHeader(0x4334, 0x02, packetId, 0x00, context, trackables, isLittleEndian);
-  console.log(headerBytes.length);
 
   bytes.set(headerBytes, dataOffset);
   dataOffset += headerBytes.length;
   trackables.forEach((trackable) => {
-    console.log('dataOffset', dataOffset);
     bytes.set(trackable, dataOffset);
     dataOffset += trackable.length;
   });

From 1f231d426f1ea8dea0c14b3264a38d6b16b1ca25 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 09:17:05 -0500
Subject: [PATCH 12/16] add multiple submodules to encode example and remove
 sending

---
 example/encode.js | 26 ++++++++++++++------------
 1 file changed, 14 insertions(+), 12 deletions(-)

diff --git a/example/encode.js b/example/encode.js
index 65495fc..f35d4df 100644
--- a/example/encode.js
+++ b/example/encode.js
@@ -2,17 +2,19 @@ const { Encoders } = require('../');
 const dgram = require('dgram');
 
 const motionBytes = Encoders.RTTrPM(0x01, 0x12345678, [
-  Encoders.Trackable('Test', [Encoders.CentroidPosition(100, 1.0, 2.0, 3.0)], undefined),
+  Encoders.Trackable(
+    'Test',
+    [
+      Encoders.CentroidPosition(100, 1.0, 2.0, 3.0),
+      Encoders.CentroidAccelVelocity(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0),
+      Encoders.TrackedPointPosition(100, 1.0, 2.0, 3.0, 1),
+      Encoders.TrackedPointAccelVelocity(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 1),
+      Encoders.TrackedPointPosition(100, 1.0, 2.0, 3.0, 2),
+      Encoders.TrackedPointAccelVelocity(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 2),
+      Encoders.OrientationEuler(100, 0x0123, 1, 2, 3),
+      Encoders.OrientationQuaternion(100, 1, 2, 3, 4),
+    ],
+    Math.floor(Date.now() / 1000)
+  ),
 ]);
 console.log(motionBytes);
-
-const socket = dgram.createSocket('udp4');
-
-socket.send(motionBytes, 3434, '127.0.0.1', (error) => {
-  if (error) {
-    console.error(error);
-  }
-  socket.close(() => {
-    process.exit();
-  });
-});

From f5352f30b6cfd2f8a8b0fe5ccdf1d38d59410a25 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 09:24:59 -0500
Subject: [PATCH 13/16] fix syntax error in models

---
 src/models.ts | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/models.ts b/src/models.ts
index 67745f7..6e65521 100644
--- a/src/models.ts
+++ b/src/models.ts
@@ -8,4 +8,3 @@ export type RTTrPHeader = {
   context: number;
   subModuleCount: number;
 };
-};

From 5523a50089f9ff3f54b878ad71c9382fd2a4355f Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 09:26:00 -0500
Subject: [PATCH 14/16] fix syntax error in encode tests

---
 tests/encode.test.js | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tests/encode.test.js b/tests/encode.test.js
index 519c523..4d0aecf 100644
--- a/tests/encode.test.js
+++ b/tests/encode.test.js
@@ -12,7 +12,6 @@ const goodTests = [
       return Encoders.RTTrPHeader(0x4334, 2, 0x12345678, 0, 0x12345678, [], false);
     },
   },
-  },
 ];
 
 describe('RTTrP Message Encoding', () => {

From 70795b07c4ca3271264ffc3be8e4bbf06dd65f76 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 09:30:30 -0500
Subject: [PATCH 15/16] add encode test for little endian header

---
 tests/encode.test.js | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/tests/encode.test.js b/tests/encode.test.js
index 4d0aecf..eb03362 100644
--- a/tests/encode.test.js
+++ b/tests/encode.test.js
@@ -12,6 +12,15 @@ const goodTests = [
       return Encoders.RTTrPHeader(0x4334, 2, 0x12345678, 0, 0x12345678, [], false);
     },
   },
+  {
+    description: 'RTTrP Header Little Endian',
+    expected: new Uint8Array([
+      0x54, 0x41, 0x34, 0x43, 0x00, 0x02, 0x78, 0x56, 0x34, 0x12, 0x00, 0x12, 0x00, 0x78, 0x56, 0x34, 0x12, 0x00,
+    ]),
+    bytes: () => {
+      return Encoders.RTTrPHeader(0x4334, 2, 0x12345678, 0, 0x12345678, [], true);
+    },
+  },
 ];
 
 describe('RTTrP Message Encoding', () => {

From a769cd73a5e33c30bf8fb46cbb0c10d7e29ba161 Mon Sep 17 00:00:00 2001
From: Joel Wetzell <jwetzell@yahoo.com>
Date: Sat, 15 Mar 2025 09:30:52 -0500
Subject: [PATCH 16/16] add encode test for empty rttrpm packet

---
 tests/encode.test.js | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/tests/encode.test.js b/tests/encode.test.js
index eb03362..bc86b13 100644
--- a/tests/encode.test.js
+++ b/tests/encode.test.js
@@ -21,6 +21,15 @@ const goodTests = [
       return Encoders.RTTrPHeader(0x4334, 2, 0x12345678, 0, 0x12345678, [], true);
     },
   },
+  {
+    description: 'Empty RTTrPM',
+    expected: new Uint8Array([
+      65, 84, 67, 52, 0, 2, 0, 0, 0, 1, 0, 0, 27, 18, 52, 86, 120, 1, 1, 0, 9, 4, 84, 101, 115, 116, 0,
+    ]),
+    bytes: () => {
+      return Encoders.RTTrPM(0x01, 0x12345678, [Encoders.Trackable('Test', [])]);
+    },
+  },
 ];
 
 describe('RTTrP Message Encoding', () => {