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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|
...	...	@@ -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
...	...	@@ -485,26 +485,23 @@
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 __**__& **CONFIRM**__
	485	+**__DEFAULT__**
489	489
490	490	Ex: #5DEFAULT<cr>
491	491
492		-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.
	489	+This command sets all values to the default values included with the version of the firmware installed on that servo.
493	493
494		-EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	491	+__**FIRMWARE** & **CONFIRM**__
495	495
496		-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.
	493	+Ex: #5FIRMWARE<cr>
497	497
498		-**__UPDATE __**__& **CONFIRM**__
	495	+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.
499	499
500		-Ex: #5UPDATE<cr>
	497	+EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
501	501
502		-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.
	499	+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.
503	503
504		-EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
505	505
506		-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.
507		-
508	508	=== Virtual Angular Position ===
509	509
510	510	{In progress}