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...	...	@@ -158,14 +158,14 @@
158	158
159	159	SR overwrites SD / CSR overwrites CSD and vice-versa.
160	160	)))|(% style="text-align:center; width:113px" %)Max per servo
161		-| 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
	161	+| 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)0 (OFF)
162	162	| 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
163	163	| 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID29"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0
164		-| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	164	+| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200
165	165	| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
166	166
167	167	)))
168		-| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstPosition28Degrees2928FD29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
	168	+| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees28G29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value
169	169	| 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
170	170	| 21|[[Serial **N**umber>>||anchor="H21.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
171	171	| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
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222	222
223	223	This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
224	224
	225	+Query Speed (**QS**)
	226	+
	227	+Example: #5QS<cr> might return *5QS300<cr>
	228	+
	229	+This command queries the current speed in microseconds per second.
	230	+
225	225	====== __5. (Relative) Move in Degrees (**MD**)__ ======
226	226
227	227	Example: #5MD123<cr>
...	...	@@ -291,7 +291,7 @@
291	291
292	292	====== __9. Position in Degrees (**D**)__ ======
293	293
294		-Example: #5PD1456<cr>
	300	+Example: #5D1456<cr>
295	295
296	296	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) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction.
297	297
...	...	@@ -390,7 +390,7 @@
390	390
391	391	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.
392	392
393		-0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
	399	+0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
394	394
395	395	Query LED Color (**QLED**)
396	396
...	...	@@ -440,7 +440,7 @@
440	440
441	441	====== __17. Baud Rate__ ======
442	442
443		-A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
	449	+A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
444	444
445	445	Query Baud Rate (**QB**)
446	446
...	...	@@ -460,21 +460,21 @@
460	460
461	461	Command coming soon....
462	462
463		-====== __19. First Position (Degrees) (**FD**)__ ======
	469	+====== __19. First Position (Degrees)__ ======
464	464
465		-In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
	471	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned.
466	466
467	467	Query First Position in Degrees (**QFD**)
468	468
469	469	Ex: #5QFD<cr> might return *5QFD64<cr>
470	470
471		-The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
	477	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If there is no first position value stored, the reply will be DIS
472	472
473	473	Configure First Position in Degrees (**CFD**)
474	474
475	475	Ex: #5CD64<cr>
476	476
477		-This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
	483	+This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
478	478
479	479	====== __20. Query Model String (**QMS**)__ ======
480	480