Is there a packet type to set the motor direction?

Hi, I am using an ATMEGA8515 to send the packets to the dispenser. Everything is going well so far, I have achieved to run the dispenser for a number of ticks or seconds. But I would like to be able to change the direction of the motor in order to take the remaining liquid in the pipes back to its storage place. I have already checked this document ( but I dont see any packet type that makes this function. I would really appreciate if you could tell me if there is a way to do this by only using my microcontroller. Thanks!

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