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134	134	| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
135	135	| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
136	136	| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
137		-| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
	137	+| |[[**H**alt & Hold>>doc:||anchor="HHaltHold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
138	138
139	139	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
140	140	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -289,9 +289,11 @@
289	289	== Motion ==
290	290
291	291	|(% colspan="2" %)(((
292		-====== __Position in **D**egrees (**D**)__ ======
	292	+====== __Position in Degrees__ ======
293	293	)))
294	294	|(% style="width:30px" %) |(((
	295	+Position in Degrees (**D**)
	296	+
295	295	Example: #5D1456<cr>
296	296
297	297	This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
...	...	@@ -312,18 +312,18 @@
312	312	)))
313	313
314	314	|(% colspan="2" %)(((
315		-====== __Relative **M**ove in **D**egrees (**MD**)__ ======
	317	+====== __(Relative) Move in Degrees__ ======
316	316	)))
317	317	|(% style="width:30px" %) |(((
318		-(% class="wikigeneratedid" %)
319		-Example: #5M1500<cr>
	320	+Move in Degrees (**MD**)
320	320
321		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
322		-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.
	322	+Example: #5MD123<cr>
	323	+
	324	+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.
323	323	)))
324	324
325	325	|(% colspan="2" %)(((
326		-====== __**W**heel Mode in **D**egrees (**WD**)__ ======
	328	+====== __Wheel Mode in Degrees__ ======
327	327	)))
328	328	|(% style="width:30px" %) |(((
329	329	Wheel mode in Degrees (**WD**)
...	...	@@ -340,7 +340,7 @@
340	340	)))
341	341
342	342	|(% colspan="2" %)(((
343		-====== __**W**heel Mode in **R**PM (**WR**)__ ======
	345	+====== __Wheel Mode in RPM__ ======
344	344	)))
345	345	|(% style="width:30px" %) |(((
346	346	Wheel moed in RPM (**WR**)
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357	357	)))
358	358
359	359	|(% colspan="2" %)(((
360		-====== __**Q**uery Status (**Q**)__ ======
	362	+====== __(Relative) Move in Degrees__ ======
361	361	)))
362	362	|(% style="width:30px" %) |(((
	365	+(% class="wikigeneratedid" %)
	366	+Move in Degrees (**MD**)
	367	+
	368	+(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
	369	+Example: #5M1500<cr>
	370	+
	371	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	372	+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.
	373	+)))
	374	+
	375	+|(% colspan="2" %)(((
	376	+====== __Query Status__ ======
	377	+)))
	378	+|(% style="width:30px" %) |(((
	379	+Query Status (**Q**)
	380	+
363	363	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
364	364
365	365	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
...	...	@@ -391,7 +391,7 @@
391	391	)))
392	392
393	393	|(% colspan="2" %)(((
394		-====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
	412	+====== __Motion Time__ ======
395	395	)))
396	396	|(% style="width:30px" %) |(((
397	397
...	...	@@ -398,7 +398,7 @@
398	398	)))
399	399
400	400	|(% colspan="2" %)(((
401		-====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
	419	+====== __Current Speed__ ======
402	402	)))
403	403	|(% style="width:30px" %) |(((
404	404
...	...	@@ -405,9 +405,11 @@
405	405	)))
406	406
407	407	|(% colspan="2" %)(((
408		-====== __**L**imp (**L**)__ ======
	426	+====== __Limp__ ======
409	409	)))
410	410	|(% style="width:30px" %) |(((
	429	+Limp (**L**)
	430	+
411	411	Example: #5L<cr>
412	412
413	413	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>.
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414	414	)))
415	415
416	416	|(% colspan="2" %)(((
417		-====== __**H**alt & Hold (**H**)__ ======
	437	+====== __Halt & Hold__ ======
418	418	)))
419	419	|(% style="width:30px" %) |(((
	440	+Halt & Hold (**H**)
	441	+
420	420	Example: #5H<cr>
421	421
422	422	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.)