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...	...	@@ -163,20 +163,19 @@
163	163	| |[[**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)
164	164	| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165	165	| |[[**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
166		-| |**Q**uery **T**emperature **P**robe|(% 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|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
168		-| |**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" %) | | |(((
169	169	QTCW: Queries the temperature status of the motor controller (pre-warning)
170	170
171	171	QTCE: Queries the temperature status of the motor controller (over-temp error)
172	172	)))
173		-| |**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
174		-| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
175		-| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
176		-| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
177		-| |**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)
178		-| |**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)
179		-| |**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)
180	180
181	181	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
182	182	|(% 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**
...	...	@@ -186,13 +186,19 @@
186	186
187	187	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
188	188
189		-====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
	188	+|(% colspan="2" %)(((
	189	+====== __Reset__ ======
	190	+)))
	191	+| |(((
	192	+Ex: #5RESET<cr>
190	190
191		-(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
192		-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	+)))
193	193
	197	+|(% colspan="2" %)(((
194	194	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
195		-
	199	+)))
	200	+|(% style="width:30px" %) |(((
196	196	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
197	197
198	198	(% 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.
...	...	@@ -202,9 +202,12 @@
202	202	(% 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.
203	203
204	204	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	210	+)))
205	205
	212	+|(% colspan="2" %)(((
206	206	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
207		-
	214	+)))
	215	+|(% style="width:30px" %) |(((
208	208	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
209	209
210	210	(% 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.
...	...	@@ -214,15 +214,23 @@
214	214	(% 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.
215	215
216	216	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	225	+)))
217	217
	227	+|(% colspan="2" %)(((
218	218	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
219		-
	229	+)))
	230	+|(% style="width:30px" %) |(((
220	220	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
221	221
222	222	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
223	223	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	235	+)))
224	224
225		-====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
	237	+|(% colspan="2" %)(((
	238	+====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
	239	+)))
	240	+|(% style="width:30px" %) |(((
	241	+This assigns ID #5 to the servo previously assigned to ID 0
226	226
227	227	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
228	228
...	...	@@ -235,9 +235,12 @@
235	235	Ex: #254QID<cr> might return *254QID5<cr>
236	236
237	237	In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
	254	+)))
238	238
239		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
240		-
	256	+|(% colspan="2" %)(((
	257	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
	258	+)))
	259	+|(% style="width:30px" %) |(((
241	241	Query Enable CAN Terminal Resistor (**QET**)
242	242
243	243	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -249,24 +249,35 @@
249	249	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
250	250
251	251	(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
	271	+)))
252	252
253		-====== __USB Connection Status (**UC**)__ ======
254		-
	273	+|(% colspan="2" %)(((
	274	+====== __USB Connection Status__ ======
	275	+)))
	276	+|(% style="width:30px" %) |(((
255	255	Query USB Connection Status (**QUC**)
256	256
257	257	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
	280	+)))
258	258
259		-====== __Firmware Release (**FR**)__ ======
260		-
	282	+|(% colspan="2" %)(((
	283	+====== __Firmware Release__ ======
	284	+)))
	285	+|(% style="width:30px" %) |(((
261	261	Query Firmware Release (**QFR**)
262	262
263	263	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
264	264
265	265	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
	291	+)))
266	266
267	267	== Motion ==
268	268
269		-====== __Position in Degrees (**D**)__ ======
	295	+|(% colspan="2" %)(((
	296	+====== __Position in Degrees__ ======
	297	+)))
	298	+|(% style="width:30px" %) |(((
	299	+Position in Degrees (**D**)
270	270
271	271	Example: #5D1456<cr>
272	272
...	...	@@ -285,15 +285,24 @@
285	285	Ex: #5QDT<cr> might return *5QDT6783<cr>
286	286
287	287	The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
	318	+)))
288	288
289		-====== __(Relative) Move in Degrees (**MD**)__ ======
	320	+|(% colspan="2" %)(((
	321	+====== __(Relative) Move in Degrees__ ======
	322	+)))
	323	+|(% style="width:30px" %) |(((
	324	+Move in Degrees (**MD**)
290	290
291		-
292	292	Example: #5MD123<cr>
293	293
294	294	The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
	329	+)))
295	295
296		-====== __Wheel Mode in Degrees (**WD**)__ ======
	331	+|(% colspan="2" %)(((
	332	+====== __Wheel Mode in Degrees__ ======
	333	+)))
	334	+|(% style="width:30px" %) |(((
	335	+Wheel mode in Degrees (**WD**)
297	297
298	298	Ex: #5WD90<cr>
299	299
...	...	@@ -304,8 +304,13 @@
304	304	Ex: #5QWD<cr> might return *5QWD90<cr>
305	305
306	306	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	346	+)))
307	307
308		-====== __Wheel Mode in RPM (**WR**)__ ======
	348	+|(% colspan="2" %)(((
	349	+====== __Wheel Mode in RPM__ ======
	350	+)))
	351	+|(% style="width:30px" %) |(((
	352	+Wheel moed in RPM (**WR**)
309	309
310	310	Ex: #5WR40<cr>
311	311
...	...	@@ -316,8 +316,14 @@
316	316	Ex: #5QWR<cr> might return *5QWR40<cr>
317	317
318	318	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	363	+)))
319	319
320		-====== __(Relative) Move in Degrees (**MD**)__ ======
	365	+|(% colspan="2" %)(((
	366	+====== __(Relative) Move in Degrees__ ======
	367	+)))
	368	+|(% style="width:30px" %) |(((
	369	+(% class="wikigeneratedid" %)
	370	+Move in Degrees (**MD**)
321	321
322	322	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
323	323	Example: #5M1500<cr>
...	...	@@ -324,8 +324,13 @@
324	324
325	325	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
326	326	The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
	377	+)))
327	327
328		-====== __Query Status (**Q**)__ ======
	379	+|(% colspan="2" %)(((
	380	+====== __Query Status__ ======
	381	+)))
	382	+|(% style="width:30px" %) |(((
	383	+Query Status (**Q**)
329	329
330	330	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
331	331
...	...	@@ -355,18 +355,29 @@
355	355	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
356	356	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
357	357	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	413	+)))
358	358
359		-====== __Limp (**L**)__ ======
	415	+|(% colspan="2" %)(((
	416	+====== __Limp__ ======
	417	+)))
	418	+|(% style="width:30px" %) |(((
	419	+Limp (**L**)
360	360
361	361	Example: #5L<cr>
362	362
363	363	This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
	424	+)))
364	364
365		-====== __Halt & Hold (**H**)__ ======
	426	+|(% colspan="2" %)(((
	427	+====== __Halt & Hold__ ======
	428	+)))
	429	+|(% style="width:30px" %) |(((
	430	+Halt & Hold (**H**)
366	366
367	367	Example: #5H<cr>
368	368
369	369	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
	435	+)))
370	370
371	371	== Motion Setup ==
372	372
...	...	@@ -557,23 +557,27 @@
557	557
558	558	== Telemetry ==
559	559
560		-====== __Query Voltage (**QV**)__ ======
	626	+====== __Query PCB Temperature (**QT**)__ ======
561	561
562		-Ex: #5QV<cr> might return *5QV11200<cr>
	628	+Ex: #5QT<cr> might return *5QT564<cr>
563	563
564		-The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
	630	+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.
565	565
566		-====== __Query Temperature (**QT**)__ ======
	632	+====== __Query Temperature Probe (**QTP**)__ ======
567	567
568		-Ex: #5QT<cr> might return *5QT564<cr>
	634	+Ex:
569	569
570		-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.
	636	+====== __Query Temp of Controller (**QTCW**)__ ======
571	571
572		-====== __Query Motor Driver Current (**QC**)__ ======
	638	+Ex:
573	573
	640	+An alternative is QTCE
	641	+
	642	+====== __Query Current (**QC**)__ ======
	643	+
574	574	Ex: #5QC<cr> might return *5QC140<cr>
575	575
576		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
	646	+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.
577	577
578	578	====== __Query Model String (**QMS**)__ ======
579	579
...	...	@@ -593,13 +593,13 @@
593	593
594	594	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
595	595
596		-====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
	666	+====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
597	597
598	598	Ex: #6QIX<cr> might return *6QIX30<cr>
599	599
600	600	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
601	601
602		-__Query IMU Angular (**QIA**, **QIB**, **QIC**)__
	672	+====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
603	603
604	604	Ex: #6QIB<cr> might return *6QIB44<cr>
605	605