def create_msg(q1,q2,q3):
	""" Converts the given configuration into a string of bytes
	understood by the robot arm. 

	Parameters:
		q1: The joint angle for the first (waist) axis.
		q2: The joint angle for the second (shoulder) axis.
		q3: The joint angle for the third (wrist) axis.
	Returns:
		The string of bytes. 
	"""
	return ('%d,%d,%d\n' % (q1,q2,q3)).encode()