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...	...	@@ -197,7 +197,7 @@
197	197	|(% colspan="2" %)(((
198	198	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199	199	)))
200		-| |(((
	200	+|(% style="width:30px" %) |(((
201	201	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202	202
203	203	(% 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.
...	...	@@ -212,7 +212,7 @@
212	212	|(% colspan="2" %)(((
213	213	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214	214	)))
215		-| |(((
	215	+|(% style="width:30px" %) |(((
216	216	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
217	217
218	218	(% 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.
...	...	@@ -224,17 +224,21 @@
224	224	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
225	225	)))
226	226
227		-(% class="wikigeneratedid" %)
228		-====== ======
229		-
	227	+|(% colspan="2" %)(((
230	230	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
231		-
	229	+)))
	230	+|(% style="width:30px" %) |(((
232	232	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
233	233
234	234	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
235	235	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	235	+)))
236	236
237		-====== (% 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
238	238
239	239	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
240	240
...	...	@@ -247,9 +247,12 @@
247	247	Ex: #254QID<cr> might return *254QID5<cr>
248	248
249	249	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	+)))
250	250
251		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
252		-
	256	+|(% colspan="2" %)(((
	257	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
	258	+)))
	259	+|(% style="width:30px" %) |(((
253	253	Query Enable CAN Terminal Resistor (**QET**)
254	254
255	255	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -261,24 +261,35 @@
261	261	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
262	262
263	263	(% 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	+)))
264	264
265		-====== __USB Connection Status (**UC**)__ ======
266		-
	273	+|(% colspan="2" %)(((
	274	+====== __USB Connection Status__ ======
	275	+)))
	276	+|(% style="width:30px" %) |(((
267	267	Query USB Connection Status (**QUC**)
268	268
269	269	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
	280	+)))
270	270
271		-====== __Firmware Release (**FR**)__ ======
272		-
	282	+|(% colspan="2" %)(((
	283	+====== __Firmware Release__ ======
	284	+)))
	285	+|(% style="width:30px" %) |(((
273	273	Query Firmware Release (**QFR**)
274	274
275	275	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
276	276
277	277	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
	291	+)))
278	278
279	279	== Motion ==
280	280
281		-====== __Position in Degrees (**D**)__ ======
	295	+|(% colspan="2" %)(((
	296	+====== __Position in Degrees__ ======
	297	+)))
	298	+|(% style="width:30px" %) |(((
	299	+Position in Degrees (**D**)
282	282
283	283	Example: #5D1456<cr>
284	284
...	...	@@ -297,15 +297,24 @@
297	297	Ex: #5QDT<cr> might return *5QDT6783<cr>
298	298
299	299	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	+)))
300	300
301		-====== __(Relative) Move in Degrees (**MD**)__ ======
	320	+|(% colspan="2" %)(((
	321	+====== __(Relative) Move in Degrees__ ======
	322	+)))
	323	+|(% style="width:30px" %) |(((
	324	+Move in Degrees (**MD**)
302	302
303		-
304	304	Example: #5MD123<cr>
305	305
306	306	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	+)))
307	307
308		-====== __Wheel Mode in Degrees (**WD**)__ ======
	331	+|(% colspan="2" %)(((
	332	+====== __Wheel Mode in Degrees__ ======
	333	+)))
	334	+|(% style="width:30px" %) |(((
	335	+Wheel mode in Degrees (**WD**)
309	309
310	310	Ex: #5WD90<cr>
311	311
...	...	@@ -316,8 +316,13 @@
316	316	Ex: #5QWD<cr> might return *5QWD90<cr>
317	317
318	318	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	+)))
319	319
320		-====== __Wheel Mode in RPM (**WR**)__ ======
	348	+|(% colspan="2" %)(((
	349	+====== __Wheel Mode in RPM__ ======
	350	+)))
	351	+|(% style="width:30px" %) |(((
	352	+Wheel moed in RPM (**WR**)
321	321
322	322	Ex: #5WR40<cr>
323	323
...	...	@@ -328,8 +328,14 @@
328	328	Ex: #5QWR<cr> might return *5QWR40<cr>
329	329
330	330	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	+)))
331	331
332		-====== __(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**)
333	333
334	334	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
335	335	Example: #5M1500<cr>
...	...	@@ -336,8 +336,13 @@
336	336
337	337	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
338	338	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	+)))
339	339
340		-====== __Query Status (**Q**)__ ======
	379	+|(% colspan="2" %)(((
	380	+====== __Query Status__ ======
	381	+)))
	382	+|(% style="width:30px" %) |(((
	383	+Query Status (**Q**)
341	341
342	342	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
343	343
...	...	@@ -367,18 +367,29 @@
367	367	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
368	368	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
369	369	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	413	+)))
370	370
371		-====== __Limp (**L**)__ ======
	415	+|(% colspan="2" %)(((
	416	+====== __Limp__ ======
	417	+)))
	418	+|(% style="width:30px" %) |(((
	419	+Limp (**L**)
372	372
373	373	Example: #5L<cr>
374	374
375	375	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	+)))
376	376
377		-====== __Halt & Hold (**H**)__ ======
	426	+|(% colspan="2" %)(((
	427	+====== __Halt & Hold__ ======
	428	+)))
	429	+|(% style="width:30px" %) |(((
	430	+Halt & Hold (**H**)
378	378
379	379	Example: #5H<cr>
380	380
381	381	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	+)))
382	382
383	383	== Motion Setup ==
384	384