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...	...	@@ -292,11 +292,7 @@
292	292
293	293	== Motion ==
294	294
295		-|(% colspan="2" %)(((
296		-====== __Position in Degrees__ ======
297		-)))
298		-|(% style="width:30px" %) |(((
299		-Position in Degrees (**D**)
	295	+====== __Position in Degrees (**D**)__ ======
300	300
301	301	Example: #5D1456<cr>
302	302
...	...	@@ -315,24 +315,15 @@
315	315	Ex: #5QDT<cr> might return *5QDT6783<cr>
316	316
317	317	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		-)))
319	319
320		-|(% colspan="2" %)(((
321		-====== __(Relative) Move in Degrees__ ======
322		-)))
323		-|(% style="width:30px" %) |(((
324		-Move in Degrees (**MD**)
	315	+====== __(Relative) Move in Degrees (**MD**)__ ======
325	325
	317	+
326	326	Example: #5MD123<cr>
327	327
328	328	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		-)))
330	330
331		-|(% colspan="2" %)(((
332		-====== __Wheel Mode in Degrees__ ======
333		-)))
334		-|(% style="width:30px" %) |(((
335		-Wheel mode in Degrees (**WD**)
	322	+====== __Wheel Mode in Degrees (**WD**)__ ======
336	336
337	337	Ex: #5WD90<cr>
338	338
...	...	@@ -343,13 +343,8 @@
343	343	Ex: #5QWD<cr> might return *5QWD90<cr>
344	344
345	345	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		-)))
347	347
348		-|(% colspan="2" %)(((
349		-====== __Wheel Mode in RPM__ ======
350		-)))
351		-|(% style="width:30px" %) |(((
352		-Wheel moed in RPM (**WR**)
	334	+====== __Wheel Mode in RPM (**WR**)__ ======
353	353
354	354	Ex: #5WR40<cr>
355	355
...	...	@@ -360,14 +360,8 @@
360	360	Ex: #5QWR<cr> might return *5QWR40<cr>
361	361
362	362	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		-)))
364	364
365		-|(% colspan="2" %)(((
366		-====== __(Relative) Move in Degrees__ ======
367		-)))
368		-|(% style="width:30px" %) |(((
369		-(% class="wikigeneratedid" %)
370		-Move in Degrees (**MD**)
	346	+====== __(Relative) Move in Degrees (**MD**)__ ======
371	371
372	372	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
373	373	Example: #5M1500<cr>
...	...	@@ -374,13 +374,8 @@
374	374
375	375	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
376	376	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		-)))
378	378
379		-|(% colspan="2" %)(((
380		-====== __Query Status__ ======
381		-)))
382		-|(% style="width:30px" %) |(((
383		-Query Status (**Q**)
	354	+====== __Query Status (**Q**)__ ======
384	384
385	385	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
386	386
...	...	@@ -410,29 +410,18 @@
410	410	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
411	411	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
412	412	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
413		-)))
414	414
415		-|(% colspan="2" %)(((
416		-====== __Limp__ ======
417		-)))
418		-|(% style="width:30px" %) |(((
419		-Limp (**L**)
	385	+====== __Limp (**L**)__ ======
420	420
421	421	Example: #5L<cr>
422	422
423	423	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		-)))
425	425
426		-|(% colspan="2" %)(((
427		-====== __Halt & Hold__ ======
428		-)))
429		-|(% style="width:30px" %) |(((
430		-Halt & Hold (**H**)
	391	+====== __Halt & Hold (**H**)__ ======
431	431
432	432	Example: #5H<cr>
433	433
434	434	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		-)))
436	436
437	437	== Motion Setup ==
438	438