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...	...	@@ -107,8 +107,8 @@
107	107	| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
108	108	| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
109	109	| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
110		-| 14|**A**ngular **A**cceleration| AA| QAA| CAA| ✓| ✓| tenths of degrees per second squared|
111		-| 15|**A**ngular **D**eceleration| AD| QAD| CAD| ✓| ✓| tenths of degrees per second squared|
	110	+| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
	111	+| 15|//N/A (removed)//| | | | | | |
112	112	| 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
113	113	| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
114	114	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
...	...	@@ -291,46 +291,38 @@
291	291
292	292	Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
293	293
294		-__14. Angular Acceleration (**AA**)__
	294	+__14. Rigidity (R)__
295	295
296		-{More information coming soon}
	296	+The servo's rigidity can be thought of as (though not identical to) a damped spring in which the rigidity value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
297	297
298		-Ex:
	298	+A positive value of "rigidity":
299	299
300		-{Description coming soon}
	300	+* The more torque will be applied to try to keep the desired position against external input / changes
	301	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
301	301
302		-Query Angular Acceleration (**QAA**)
	303	+A negative value on the other hand:
303	303
304		-Ex:
	305	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	306	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back
305	305
306		-{Description coming soon}
	308	+The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
307	307
308		-Configure Angular Acceleration (**CAA**)
	310	+Ex: #5R-2<cr>
309	309
310		-Ex:
	312	+This reduces the rigidity to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
311	311
312		-{Description coming soon}
	314	+Ex: #5QR<cr>
313	313
314		-__15. Angular Deceleration (**AD**)__
	316	+Queries the value being used.
315	315
316		-{More information coming soon}
	318	+Ex: #5CR<cr>
317	317
318		-Ex:
	320	+Writes the desired rigidity value to memory.
319	319
320		-{Description coming soon}
	322	+__15. N/A (removed)__
321	321
322		-Query Angular Acceleration (**QAD**)
	324	+This command has been removed.
323	323
324		-Ex:
325		-
326		-{Description coming soon}
327		-
328		-Configure Angular Acceleration (**CAD**)
329		-
330		-Ex:
331		-
332		-{Description coming soon}
333		-
334	334	__16. RGB LED (**LED**)__
335	335
336	336	Ex: #5LED3<cr>
...	...	@@ -485,23 +485,30 @@
485	485
486	486	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
487	487
488		-**__DEFAULT__**
	480	+**__DEFAULT __**__& **CONFIRM**__
489	489
490	490	Ex: #5DEFAULT<cr>
491	491
492		-This command sets all values to the default values included with the version of the firmware installed on that servo.
	484	+This command sets in motion the reset 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.
493	493
494		-__**FIRMWARE** & **CONFIRM**__
	486	+EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
495	495
496		-Ex: #5FIRMWARE<cr>
	488	+Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
497	497
498		-This command clears all user-input values in EEPROM and reverts back to factory defaults for the firmware installed. It does not overwrite any firmware updates. To revert to an older firmware version, please refer to the LSS - Firmware page. The firmware command alone does nothing other than have the servo wait for a confirmation.
	490	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
499	499
500		-EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
	492	+**__UPDATE __**__& **CONFIRM**__
501	501
502		-Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
	494	+Ex: #5UPDATE<cr>
503	503
	496	+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.
504	504
	498	+EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	499	+
	500	+Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
	501	+
	502	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	503	+
505	505	=== Virtual Angular Position ===
506	506
507	507	{In progress}