.. csv-table::
        :header: "Command", "Examples"
        :widths: 20, 30

        "
        ``MotorShieldCMD,DCMotor,<Motornumber>,<Action>,<Speed>``

        Motornumber:

        ``1`` Motor M1

        ``2`` Motor M2

        ``3`` Motor M3

        ``4`` Motor M4


        Action:

        ``Forward`` Turn on DC Motor, Direction Forward

        ``Backward`` Turn on DC Motor, Direction Backward

        ``Release`` Stop applying voltage to the motor, causing the motor to run freely.

        Speed: a value from 0-255

        ","
        Turn on DC Motor, Direction: Forward. Speed: 99

        ``http://<ESP IP address>/control?cmd=MotorShieldCMD,DCMotor,0,Forward,99``

        Stopping the DC Motor:
        
        ``http://<ESP IP address>/control?cmd=MotorShieldCMD,DCMotor,0,Release``
        "
        "
        ``MotorShieldCMD,Stepper,<Motornumber>,<Action>,<Steps>,<stepsize>``

        Motornumber:

        ``1`` Stepper M1 & M2

        ``2`` Motor M3 & M4

        Action:

        ``Forward`` Turn on DC Motor, Direction Forward

        ``Backward`` Turn on DC Motor, Direction Backward

        ``Release`` Stop applying voltage to the motor, causing the motor to run freely.

        Steps: a value from 0-255

        Stepsize:

        ``SINGLE`` Perform a single (full) step
        
        ``DOUBLE`` Perform 2 (full) steps
        
        ``INTERLEAVE`` Perform half step
        
        ``MICROSTEP`` Perform quarter step

        ","
        Turn on DC Motor, Direction: Forward. Steps: 99

        ``http://<ESP IP address>/control?cmd=MotorShieldCMD,Stepper,0,Forward,99,``

        Stopping the DC Motor:
        
        ``http://<ESP IP address>/control?cmd=MotorShieldCMD,Stepper,0,Release``
        "