Drive commands take the following general form:
{Direction}{Maneuver}[Turn condition]{Stop condition}
In the following list, {S} indicates a mandatory stop condition, and [T] indicates an optional turn condition.
F{S}
Drive forwards at current steering angle
R{S}
Reverse at current steering angle
FC{S}
Drive forwards at current steering angle
RC{S}
Reverse at current steering angle
FH{S}
Drive forwards with hands off (maintaining current wheel heading)
FL[T]{S}
Drive forwards and turn left as tightly as possible
RL[T]{S}
Reverse and turn left as tightly as possible
FR[T]{S}
Drive forwards and turn right as tightly as possible
RR[T]{S}
Reverse and turn right as tightly as possible