So buttplug.io as a library is made for supporting communication with toys from a host, but itself is not made to be a peripheral protocol. It's verbose af because of some of the early decisions I made that we are now very very stuck with.
That said, on the firmware side, I'm pushing for tcode, which is a sort of gcode variant for sex toy firmware. There's documentation for it in STPIHKAL (sex toy protocols i have known and loved), our protocol aggregation repo:
https://www.youtube.com/watch?v=KyMZBOQtmic
Who knew there would be a thriving community of butt plug hackers lmao.