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42	42	Released 2020-04-07
43	43
44	44	Many bug fixers and new features!
	45	+
45	45	* QF now reports more details on version number (QF, QF1, QF2, QF3)
46	46	* Maximum motor duty cycle can be controlled using MMD, QMMD (min25%, max100% = 1023).
47	47	** Can set it asymmetrical by passing 2 values separated by a comma (pos limit, neg limit).
...	...	@@ -66,12 +66,12 @@
66	66	* Backwards compatibility is a priority. This firmware shouldn't affect existing code, please report any issues. Include a reproductible command sequence if possible.
67	67	* Allows multiple commands to be sent and received as a group
68	68	* Group commands can include multiple servos without bus conflict/contention
69		-** Ex. #0QD#5QD#10QD\r - queries 3 servos at once for position
70		-** #0QD0QC0#5QD0QC0 - queries 2 servos at once for position and current (milliamps). 0 required to separate commands QD and QC
	70	+** Ex. #0QD#5QD#10QD\r  -  queries 3 servos at once for position
	71	+** #0QD0QC0#5QD0QC0  -  queries 2 servos at once for position and current (milliamps). 0 required to separate commands QD and QC
71	71	* Increase in supported baud rates up to 921k (adds 500k, 750k, 921.6k) with 2 and 3Mbit coming soon
72	72	* Auto baud rate (ABR) can be enabled (off by default):
73		-** Ex. #254ABR1 - Enable baudrate detection on first byte received after power-up.
74		-** #254ABR2,30 - Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
	74	+** Ex. #254ABR1  -  Enable baudrate detection on first byte received after power-up.
	75	+** #254ABR2,30  -  Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
75	75	** Warning: ABR doesn't work well with LSS Config at the moment, updated LSS Config coming soon.
76	76	* Using #254QID120 can scan the entire bus at once for servos without conflict.
77	77	** Servos will use a simple formula to delay their response: 200usec + <id> * 120usec, where <id> is their servo ID 0 to 253.
...	...	@@ -80,11 +80,11 @@
80	80	* Configure a slot# for each servo and using (ex.) #254QD can query all servos at once without conflict
81	81	** Ex. We have 3 servos at ID 0, 5, and 10. We want to configure them to be slots 0, 1, and 2 respectively.
82	82	*** #254SLOTCOUNT3\r - configure 3 slots on our bus
83		-*** #0SLOT0\r - we don't really have to do this one, servos default to slot 0 on power-up
84		-*** #5SLOT1\r - Servo ID5 to slot 1
85		-*** #10SLOT2\r - Servo ID10 to slot 2
86		-*** #254QD\r - Query all servos for position
87		-*** #254QD0QC0\r - Query all servos for position and current (milliamps)
	84	+*** #0SLOT0\r  -  we don't really have to do this one, servos default to slot 0 on power-up
	85	+*** #5SLOT1\r  -  Servo ID5 to slot 1
	86	+*** #10SLOT2\r  -  Servo ID10 to slot 2
	87	+*** #254QD\r  -  Query all servos for position
	88	+*** #254QD0QC0\r  -  Query all servos for position and current (milliamps)
88	88	** Note: You only need to configure slots once on power-up, #254<cmd> will offset all servo replies based on slot# after this is set.
89	89	** Note: Why not just use servo ID as slot#? Many LSS bus setups are not using sequential IDs so it's more efficient to assign slot# then expect everyone to change their robot's logical servo IDs to be sequential.
90	90	* Fixed memory leak in MMD command