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...	...	@@ -467,8 +467,10 @@
467	467
468	468	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.
469	469
470		-Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
	470	+Query Gyre Direction (**QG**)
471	471
	472	+Ex: #5QG<cr> might return *5QG-1<cr>
	473	+
472	472	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.
473	473
474	474	Configure Gyre (**CG**)
...	...	@@ -505,6 +505,24 @@
505	505
506	506	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.
507	507
	510	+====== __Step Mode (**SM**)__ ======
	511	+
	512	+Ex: #8SM2<cr>
	513	+
	514	+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.
	515	+
	516	+Note that the torque and max RPM of the actuator will be affected.
	517	+
	518	+Query Step Mode (**QSM**)
	519	+
	520	+Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	521	+
	522	+Configure Step Mode (**CSM**)
	523	+
	524	+Ex: #8SM2<cr>
	525	+
	526	+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.
	527	+
508	508	== Modifiers ==
509	509
510	510	====== __Speed (**SD**) modifier__ ======