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...	...	@@ -12,39 +12,180 @@
12	12	= Features =
13	13
14	14
15		-= User Guide =
	15	+<direct commands>
16	16
17		-== Emergencies ==
	17	+* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
	18	+* The replies of the query commands are shown in the text field below.
	19	+* The commands are validated, and it shows a notification in case of error.
	20	+* Supported commands:
18	18
19		-When an emergency occur the user will have three choices:
	22	+Action:
20	20
21		-HALT & HOLD
22		-Will stop all motions on every joints and hold them in their last positions.
	24	+ # Communication setup
23	23
24		-LIMP
25		-All joints will go limp which mean there will be nothing avoiding them to turn freely. The internal mechanism of the LSS-P actuators does have some back driving forces but it will make the arm fall if this is engaged.
	26	+ RESET = "RESET"
26	26
27		-POWER SUPPLY EMERGENCY
28		-A push to cut power button is located on the power supply which will indeed cut all actuator from receiving their power. This will also make the arm fall.
	28	+ DEFAULT_CONFIGURATION = "DEFAULT"
29	29
30		-== Arm connection ==
	30	+ FIRMWARE_UPDATE_MODE = "UPDATE"
31	31
32		-Model
	32	+ CONFIRM_CHANGES = "CONFIRM"
33	33
34		-== Gripper connection ==
	34	+ # Motion
35	35
36		-Model
	36	+ POSITION = "D"
37	37
38		-== Direct Command ==
	38	+ MOVE_DEGREES = "MD"
39	39
40		-This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
	40	+ WHEEL_MODE_DEGREES = "WD"
41	41
42		-A few things to keep in mind when using this:
	42	+ WHEEL_MODE_RPM = "WR"
43	43
44		-* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
45		-* Sending commands does not require ‘#’ and ‘\r’ chars.
46		-** example for #2\r you should enter 2Q and press the "SEND" button
47		-* The commands are validated, and it shows a notification in case of error.
48		-* The replies of queries are shown in the text field below.
	44	+ HALT_AND_HOLD = "H"
49	49
50		-
	46	+ LIMP = "L"
	47	+
	48	+ # Motion setup
	49	+
	50	+ ORIGIN_OFFSET = "O"
	51	+
	52	+ ANGULAR_RANGE = "AR"
	53	+
	54	+ ANGULAR_ACCELERATION = "AA"
	55	+
	56	+ ANGULAR_DECELERATION = "AD"
	57	+
	58	+ GYRE_DIRECTION = "G"
	59	+
	60	+ MAX_SPEED_DEGREES = "SD"
	61	+
	62	+ MAX_SPEED_RPM = "SR"
	63	+
	64	+ # RGB LED
	65	+
	66	+ LED_COLOR = "LED"
	67	+
	68	+ Query:
	69	+
	70	+ # Communication setup
	71	+
	72	+ ID_NUMBER = "QID"
	73	+
	74	+ ENABLE_CAN_TERMINAL = "QET"
	75	+
	76	+ USB_CONNECTION_STATUS = "QUC"
	77	+
	78	+ # Motion
	79	+
	80	+ POSITION = "QD"
	81	+
	82	+ WHEEL_MODE_DEGREES = "QWD"
	83	+
	84	+ WHEEL_MODE_RPM = "QWR"
	85	+
	86	+ MOTION_STATUS = "Q"
	87	+
	88	+ MOTION_TIME = "QMT"
	89	+
	90	+ CURRENT_SPEED = "QCS"
	91	+
	92	+
	93	+ # Telemetry
	94	+
	95	+ MODEL_STRING = "QMS"
	96	+
	97	+ FIRMWARE_VERSION = "QF"
	98	+
	99	+ SERIAL_NUMBER = "QN"
	100	+
	101	+ TEMP_CONTROLLER_ERROR = "QTCE"
	102	+
	103	+ TEMP_CONTROLLER_WARNING = "QTCW"
	104	+
	105	+ CURRENT = "QC"
	106	+
	107	+ ACCX = "QIX"
	108	+
	109	+ ACCY = "QIY"
	110	+
	111	+ ACCZ = "QIZ"
	112	+
	113	+ ACCALPHA = "QIA"
	114	+
	115	+ ACCBETA = "QIB"
	116	+
	117	+ ACCGAMMA = "QIG"
	118	+
	119	+ TEMPMCU = "QTM"
	120	+
	121	+ TEMPPROBE = "QTP"
	122	+
	123	+ TEMPPCB = "QT"
	124	+
	125	+ ERROR_FLAGS = "QEF"
	126	+
	127	+
	128	+ # RGB LED
	129	+
	130	+ LED_COLOR = "QLED"
	131	+
	132	+ LED_BLINKING = "QLB"
	133	+
	134	+ LED_INDICATOR = "QLI"
	135	+
	136	+
	137	+ # Motion setup
	138	+
	139	+ ORIGIN_OFFSET = "QO"
	140	+
	141	+ ANGULAR_RANGE = "QAR"
	142	+
	143	+ ANGULAR_ACCELERATION = "QAA"
	144	+
	145	+ ANGULAR_DECELERATION = "QAD"
	146	+
	147	+ GYRE_DIRECTION = "QG"
	148	+
	149	+ MAX_SPEED_DEGREES = "QSD"
	150	+
	151	+ MAX_SPEED_RPM = "QSR"
	152	+
	153	+
	154	+ Conf:
	155	+
	156	+ # Communication setup
	157	+
	158	+ ID_NUMBER = "CID"
	159	+
	160	+ ENABLE_CAN_TERMINAL = "CET"
	161	+
	162	+ USB_CONNECTION_STATUS = "CUC"
	163	+
	164	+ # Motion setup
	165	+
	166	+ MAX_SPEED_DEGREES = "CSD"
	167	+
	168	+ MAX_SPEED_RPM = "CSR"
	169	+
	170	+ ORIGIN_OFFSET = "CO"
	171	+
	172	+ ANGULAR_RANGE = "CAR"
	173	+
	174	+ ANGULAR_ACCELERATION = "CAA"
	175	+
	176	+ ANGULAR_DECELERATION = "CAD"
	177	+
	178	+ GYRE_DIRECTION = "CG"
	179	+
	180	+ # RGB LED
	181	+
	182	+ LED_COLOR = "CLED"
	183	+
	184	+ LED_BLINKING = "CLB"
	185	+
	186	+
	187	+ Modifier:
	188	+
	189	+ SPEED = "SD"
	190	+
	191	+ TIME = "T"