docs: def send_data(data):
      """ Send data to herkulex
  
      Paketize & write the packet to serial port
  
      Args:
          data (list): the data to be sent
  
      Raises:
          SerialException: Error occured while opening serial port
      """
      datalength = len(data)
      csm1 = checksum1(data, datalength)
      csm2 = checksum2(csm1)
      data.insert(0, 0xFF)
      data.insert(1, 0xFF)
      data.insert(5, csm1)
      data.insert(6, csm2)
      stringtosend = ""
      for i in range(len(data)):
          byteformat = '%02X' % data[i]
          stringtosend = stringtosend + "\\x" + byteformat
  
      try:
  
          SERPORT.write(stringtosend.decode('string-escape'))
          #print stringtosend
  
      except:
          raise HerkulexError("could not communicate with motors")