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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|**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)|
...	...	@@ -291,6 +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. Rigidity (R)__
	295	+
	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	+
	298	+A positive value of "rigidity":
	299	+
	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
	302	+
	303	+A negative value on the other hand:
	304	+
	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
	307	+
	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.
	309	+
	310	+Ex: #5R-2<cr>
	311	+
	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.
	313	+
	314	+Ex: #5QR<cr>
	315	+
	316	+Queries the value being used.
	317	+
	318	+Ex: #5CR<cr>
	319	+
	320	+Writes the desired rigidity value to memory.
	321	+
	322	+__15. N/A (removed)__
	323	+
	324	+This command has been removed.
	325	+
294	294	__16. RGB LED (**LED**)__
295	295
296	296	Ex: #5LED3<cr>