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...	...	@@ -99,9 +99,7 @@
99	99	| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
100	100	| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
101	101	| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
102		-| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
103		-See details below.
104		-)))
	102	+| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|
105	105	| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
106	106	| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
107	107	| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
...	...	@@ -110,11 +110,11 @@
110	110	| 14|**A**ngular **A**cceleration| AA| QAA| CAA| ✓| ✓| tenths of degrees per second squared|
111	111	| 15|**A**ngular **D**eceleration| AD| QAD| CAD| ✓| ✓| tenths of degrees per second squared|
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		-| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
	111	+| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 254)|
114	114	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
115	115	| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
116		-| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
117		-| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
	114	+| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |\\
	115	+| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |\\
118	118	| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
119	119	| 23|**M**odel| | QM| | | | none (integer)|
120	120	| 24|Serial **N**umber| | QN| | | | none (integer)|
...	...	@@ -123,8 +123,8 @@
123	123	| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
124	124	| 28|**T**emperature| | QT| | | ✓| degrees Celsius|
125	125	| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
126		-| | | | | | | | |
127		-| | | | | | | | |
	124	+|| | | | | || |
	125	+|| | | | | | | |
128	128
129	129	= Details =
130	130
...	...	@@ -210,14 +210,13 @@
210	210
211	211	Example: #5P2334<cr>
212	212
213		-The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
	211	+The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees
214	214
215	215	Query Position in Pulse (**QP**)
216	216
217	217	Example: #5QP<cr> might return *5QP
218	218
219		-This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
220		-Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds.
	217	+This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
221	221
222	222	__9. Position in Degrees (**D**)__
223	223
...	...	@@ -337,7 +337,7 @@
337	337
338	338	This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
339	339
340		-0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
	337	+0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
341	341
342	342	Query LED Color (**QLED**)
343	343