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1. We use the ascii words to transform the cmd between raspi and arduino, the range of ascii should be a usigned char number(we use the char before, that make the number big than 128 will be a negative number transform to arduino).
   Arduino Code：
   char Buffers[CMD_DATA_Len] = {0};
unsigned char Buffers[CMD_DATA_Len] = {0};
2. The integer number in Arduino for recording the absolutely position of the camera should be a big data more than 16-bits integer number in arduino，we should use long int instead of int.
   Arduino Code：
   unsigned int x_abs_position = 0;
unsigned long x_abs_position = 0;
unsigned long current_steps = 0;
3. The Arduino's data types and lenght:

TYPE        Bytes        Range                   Illustration
char          1        -128-127         Arduino中的char是有符号的，等价于signed char。
signed char   1        -128-127         char目的是用于储存ASCII字符。
unsigned char 1         0-255           如果你想存储字节数据，建议使用byte来明确代码目的。
byte          1         0-255           byte是Arduino平台下特有的，实际就是无符号8位整型。
int           2     -32768-32767  在基于ATMega的8位单片机中，如Arduino UNO,Ardunio Mega2560，int是2字节.
unsigned int  2         0~65535     在有些高级Arduino板，如Arduino Due,SAMD等中，int占4字节.
long          4       -2147483648 ~ 2147483647      长整型常量末尾要用L标识出来。
unsigned long 4     0 ~ 4294967295      long num  = 29596725L;
float         4     -3.4028235E+38 to 3.4028235E+38
double        4     -3.4028235E+38 to 3.4028235E+38

Reference:https://www.cnblogs.com/lulipro/p/7672954.html

The Raspberry shutdown itself at the end of D1-image sample.

Bugs Status:

• The physical position of image-sample sys is at D1-Position.
  
• The Journal.log file record nothing exception.
  
• The Image file is stopped at 18_59-D2.jpg and the 18_59-D1.jpg isn't exist.
  

The USB-TTL Serial Error.

• USB-TTL Serial is not stable.While the raspberrypi is sending the cmd to the Arduino,The serial does not work every well.The Raspberry can not found the Serial Device is the '/dev/' directory.
• We will fix this problem by trying to using the Raspberry's default Serial port '/dev/ttyAMA0'(While i am monitor the Serial Running state,the ttyAMA0 device is always plug on,So i think it is stable).
  
• There is a problem about whethe this serial can download the Arduino's bin file to Arduino.I will test this situation at 2019-8-31.