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...	...	@@ -149,7 +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	+| |[[Step Mode>>doc:||anchor="HStepMode"]]|(% 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
153	153
154	154	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155	155	|(% 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**
...	...	@@ -163,8 +163,7 @@
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" %) | | |
	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 stepper motor
168	168	| |**Q**uery **T**emp of **C**ontroller|(% 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
...	...	@@ -468,10 +468,8 @@
468	468
469	469	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.
470	470
471		-Query Gyre Direction (**QG**)
	470	+Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
472	472
473		-Ex: #5QG<cr> might return *5QG-1<cr>
474		-
475	475	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.
476	476
477	477	Configure Gyre (**CG**)
...	...	@@ -508,24 +508,6 @@
508	508
509	509	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.
510	510
511		-====== __Step Mode (**SM**)__ ======
512		-
513		-Ex: #8SM2<cr>
514		-
515		-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.
516		-
517		-Note that the torque and max RPM of the actuator will be affected.
518		-
519		-Query Step Mode (**QSM**)
520		-
521		-Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
522		-
523		-Configure Step Mode (**CSM**)
524		-
525		-Ex: #8SM2<cr>
526		-
527		-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.
528		-
529	529	== Modifiers ==
530	530
531	531	====== __Speed (**SD**) modifier__ ======
...	...	@@ -557,25 +557,23 @@
557	557
558	558	== Telemetry ==
559	559
560		-====== __Query PCB Temperature (**QT**)__ ======
	539	+====== __Query Voltage (**QV**)__ ======
561	561
562		-Ex: #5QT<cr> might return *5QT564<cr>
	541	+Ex: #5QV<cr> might return *5QV11200<cr>
563	563
564		-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	+The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
565	565
566		-====== Query Temperature Probe (**QTP**) ======
	545	+====== __Query Temperature (**QT**)__ ======
567	567
568		-Ex:
	547	+Ex: #5QT<cr> might return *5QT564<cr>
569	569
570		-====== Query Temp of Controller (**QTCW**, **QTCE**) ======
	549	+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.
571	571
572		-Ex:
	551	+====== __Query Motor Driver Current (**QC**)__ ======
573	573
574		-====== __Query Current (**QC**)__ ======
575		-
576	576	Ex: #5QC<cr> might return *5QC140<cr>
577	577
578		-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	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
579	579
580	580	====== __Query Model String (**QMS**)__ ======
581	581
...	...	@@ -594,17 +594,3 @@
594	594	Ex: #5QN<cr> might return *5QN12345678<cr>
595	595
596	596	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
597		-
598		-====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
599		-
600		-Ex: #6QIX<cr> might return *6QIX30<cr>
601		-
602		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
603		-
604		-__Query IMU Angular (**QIA**, **QIB**, **QIC**)__
605		-
606		-Ex: #6QIB<cr> might return *6QIB44<cr>
607		-
608		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
609		-
610		-