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...	...	@@ -149,6 +149,7 @@
149	149	| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
150	150	| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151	151	| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
	152	+| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, ½ step, ¼ step
152	152
153	153	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
154	154	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -162,19 +162,19 @@
162	162	| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
163	163	| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
164	164	| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
165		-| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
166		-| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
	166	+| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
	167	+| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
	168	+| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
167	167	QTCW: Queries the temperature status of the motor controller (pre-warning)
168	168
169	169	QTCE: Queries the temperature status of the motor controller (over-temp error)
170	170	)))
171		-| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
172		-| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
173		-| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
174		-| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
175		-| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
176		-| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
177		-| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
	173	+| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	174	+| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	175	+| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	176	+| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	177	+| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	178	+| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
178	178
179	179	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
180	180	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -184,13 +184,19 @@
184	184
185	185	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
186	186
187		-====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
	188	+|(% colspan="2" %)(((
	189	+====== __Reset__ ======
	190	+)))
	191	+| |(((
	192	+Ex: #5RESET<cr>
188	188
189		-(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
190		-This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	194	+This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	195	+)))
191	191
	197	+|(% colspan="2" %)(((
192	192	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
193		-
	199	+)))
	200	+| |(((
194	194	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
195	195
196	196	(% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
...	...	@@ -200,9 +200,12 @@
200	200	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
201	201
202	202	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	210	+)))
203	203
	212	+|(% colspan="2" %)(((
204	204	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
205		-
	214	+)))
	215	+| |(((
206	206	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
207	207
208	208	(% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
...	...	@@ -212,7 +212,11 @@
212	212	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
213	213
214	214	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	225	+)))
215	215
	227	+(% class="wikigeneratedid" %)
	228	+====== ======
	229	+
216	216	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
217	217
218	218	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
...	...	@@ -466,8 +466,10 @@
466	466
467	467	This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
468	468
469		-Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
	483	+Query Gyre Direction (**QG**)
470	470
	485	+Ex: #5QG<cr> might return *5QG-1<cr>
	486	+
471	471	The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
472	472
473	473	Configure Gyre (**CG**)
...	...	@@ -504,6 +504,24 @@
504	504
505	505	Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
506	506
	523	+====== __Step Mode (**SM**)__ ======
	524	+
	525	+Ex: #8SM2<cr>
	526	+
	527	+This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
	528	+
	529	+Note that the torque and max RPM of the actuator will be affected.
	530	+
	531	+Query Step Mode (**QSM**)
	532	+
	533	+Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	534	+
	535	+Configure Step Mode (**CSM**)
	536	+
	537	+Ex: #8SM2<cr>
	538	+
	539	+This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
	540	+
507	507	== Modifiers ==
508	508
509	509	====== __Speed (**SD**) modifier__ ======
...	...	@@ -535,23 +535,27 @@
535	535
536	536	== Telemetry ==
537	537
538		-====== __Query Voltage (**QV**)__ ======
	572	+====== __Query PCB Temperature (**QT**)__ ======
539	539
540		-Ex: #5QV<cr> might return *5QV11200<cr>
	574	+Ex: #5QT<cr> might return *5QT564<cr>
541	541
542		-The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
	576	+The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
543	543
544		-====== __Query Temperature (**QT**)__ ======
	578	+====== __Query Temperature Probe (**QTP**)__ ======
545	545
546		-Ex: #5QT<cr> might return *5QT564<cr>
	580	+Ex:
547	547
548		-The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
	582	+====== __Query Temp of Controller (**QTCW**)__ ======
549	549
550		-====== __Query Motor Driver Current (**QC**)__ ======
	584	+Ex:
551	551
	586	+An alternative is QTCE
	587	+
	588	+====== __Query Current (**QC**)__ ======
	589	+
552	552	Ex: #5QC<cr> might return *5QC140<cr>
553	553
554		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
	592	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
555	555
556	556	====== __Query Model String (**QMS**)__ ======
557	557
...	...	@@ -570,3 +570,17 @@
570	570	Ex: #5QN<cr> might return *5QN12345678<cr>
571	571
572	572	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	611	+
	612	+====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
	613	+
	614	+Ex: #6QIX<cr> might return *6QIX30<cr>
	615	+
	616	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	617	+
	618	+====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
	619	+
	620	+Ex: #6QIB<cr> might return *6QIB44<cr>
	621	+
	622	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	623	+
	624	+