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...	...	@@ -292,7 +292,11 @@
292	292
293	293	== Motion ==
294	294
295		-====== __Position in Degrees (**D**)__ ======
	295	+|(% colspan="2" %)(((
	296	+====== __Position in Degrees__ ======
	297	+)))
	298	+|(% style="width:30px" %) |(((
	299	+Position in Degrees (**D**)
296	296
297	297	Example: #5D1456<cr>
298	298
...	...	@@ -311,15 +311,24 @@
311	311	Ex: #5QDT<cr> might return *5QDT6783<cr>
312	312
313	313	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	+)))
314	314
315		-====== __(Relative) Move in Degrees (**MD**)__ ======
	320	+|(% colspan="2" %)(((
	321	+====== __(Relative) Move in Degrees__ ======
	322	+)))
	323	+|(% style="width:30px" %) |(((
	324	+Move in Degrees (**MD**)
316	316
317		-
318	318	Example: #5MD123<cr>
319	319
320	320	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	+)))
321	321
322		-====== __Wheel Mode in Degrees (**WD**)__ ======
	331	+|(% colspan="2" %)(((
	332	+====== __Wheel Mode in Degrees__ ======
	333	+)))
	334	+|(% style="width:30px" %) |(((
	335	+Wheel mode in Degrees (**WD**)
323	323
324	324	Ex: #5WD90<cr>
325	325
...	...	@@ -330,8 +330,13 @@
330	330	Ex: #5QWD<cr> might return *5QWD90<cr>
331	331
332	332	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	+)))
333	333
334		-====== __Wheel Mode in RPM (**WR**)__ ======
	348	+|(% colspan="2" %)(((
	349	+====== __Wheel Mode in RPM__ ======
	350	+)))
	351	+|(% style="width:30px" %) |(((
	352	+Wheel moed in RPM (**WR**)
335	335
336	336	Ex: #5WR40<cr>
337	337
...	...	@@ -342,8 +342,14 @@
342	342	Ex: #5QWR<cr> might return *5QWR40<cr>
343	343
344	344	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	+)))
345	345
346		-====== __(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**)
347	347
348	348	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
349	349	Example: #5M1500<cr>
...	...	@@ -350,8 +350,13 @@
350	350
351	351	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
352	352	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	+)))
353	353
354		-====== __Query Status (**Q**)__ ======
	379	+|(% colspan="2" %)(((
	380	+====== __Query Status__ ======
	381	+)))
	382	+|(% style="width:30px" %) |(((
	383	+Query Status (**Q**)
355	355
356	356	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
357	357
...	...	@@ -381,18 +381,29 @@
381	381	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
382	382	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
383	383	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	413	+)))
384	384
385		-====== __Limp (**L**)__ ======
	415	+|(% colspan="2" %)(((
	416	+====== __Limp__ ======
	417	+)))
	418	+|(% style="width:30px" %) |(((
	419	+Limp (**L**)
386	386
387	387	Example: #5L<cr>
388	388
389	389	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	+)))
390	390
391		-====== __Halt & Hold (**H**)__ ======
	426	+|(% colspan="2" %)(((
	427	+====== __Halt & Hold__ ======
	428	+)))
	429	+|(% style="width:30px" %) |(((
	430	+Halt & Hold (**H**)
392	392
393	393	Example: #5H<cr>
394	394
395	395	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	+)))
396	396
397	397	== Motion Setup ==
398	398