char command[] = "a:+20,b:145,c:-20,d:+34,e:90,f:45, 1000";


bool parseCommand(char * c) {
      Serial.print("Parsing ["); Serial.print(c); Serial.println("]");

  char * commaPtr = strtok(c, ",");
  while (commaPtr != nullptr) {
    Serial.print("\tToken ["); Serial.print(commaPtr); Serial.print("] -> ");
    char * colonPtr = strchr(commaPtr, ':');
    if (colonPtr != nullptr) { // we have a label
      *colonPtr = '\0';
      Serial.print("Label is '"); Serial.print(commaPtr);
      long v = strtol(colonPtr + 1, nullptr, 10); // no fancy error detection but could be done
      Serial.print("' and value is "); Serial.println(v);
    } else { // we don't have a label, it's a duration
      long d = strtol(commaPtr, nullptr, 10); // no fancy error detection but could be done
      Serial.print("duration is "); Serial.print(d);
    }
    commaPtr = strtok(nullptr, ","); // go to next token
  }
}

void setup() {
  Serial.begin(115200);
  parseCommand(command);
}

void loop() {}