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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| | | | | | | |
111		-| 15| | | | | | | |
	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|
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)|
...	...	@@ -291,6 +291,46 @@
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**)__
	295	+
	296	+{More information coming soon}
	297	+
	298	+Ex:
	299	+
	300	+{Description coming soon}
	301	+
	302	+Query Angular Acceleration (**QAA**)
	303	+
	304	+Ex:
	305	+
	306	+{Description coming soon}
	307	+
	308	+Configure Angular Acceleration (**CAA**)
	309	+
	310	+Ex:
	311	+
	312	+{Description coming soon}
	313	+
	314	+__15. Angular Deceleration (**AD**)__
	315	+
	316	+{More information coming soon}
	317	+
	318	+Ex:
	319	+
	320	+{Description coming soon}
	321	+
	322	+Query Angular Acceleration (**QAD**)
	323	+
	324	+Ex:
	325	+
	326	+{Description coming soon}
	327	+
	328	+Configure Angular Acceleration (**CAD**)
	329	+
	330	+Ex:
	331	+
	332	+{Description coming soon}
	333	+
294	294	__16. RGB LED (**LED**)__
295	295
296	296	Ex: #5LED3<cr>
...	...	@@ -445,30 +445,23 @@
445	445
446	446	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
447	447
448		-**__DEFAULT __**__& **CONFIRM**__
	488	+**__DEFAULT__**
449	449
450	450	Ex: #5DEFAULT<cr>
451	451
452		-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.
	492	+This command sets all values to the default values included with the version of the firmware installed on that servo.
453	453
454		-EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	494	+__**FIRMWARE** & **CONFIRM**__
455	455
456		-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.
	496	+Ex: #5FIRMWARE<cr>
457	457
458		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	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.
459	459
460		-**__UPDATE __**__& **CONFIRM**__
	500	+EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
461	461
462		-Ex: #5UPDATE<cr>
	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.
463	463
464		-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.
465	465
466		-EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
467		-
468		-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.
469		-
470		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
471		-
472	472	=== Virtual Angular Position ===
473	473
474	474	{In progress}