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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|**R**igidity| R| QR| CR| ✓| ✓|none|
111		-| 15|//N/A (removed)//| | | | | | |
	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)|
...	...	@@ -291,38 +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. Rigidity (R)__
	294	+__14. Angular Acceleration (**AA**)__
295	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.
	296	+{More information coming soon}
297	297
298		-A positive value of "rigidity":
	298	+Ex:
299	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
	300	+{Description coming soon}
302	302
303		-A negative value on the other hand:
	302	+Query Angular Acceleration (**QAA**)
304	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
	304	+Ex:
307	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.
	306	+{Description coming soon}
309	309
310		-Ex: #5R-2<cr>
	308	+Configure Angular Acceleration (**CAA**)
311	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.
	310	+Ex:
313	313
314		-Ex: #5QR<cr>
	312	+{Description coming soon}
315	315
316		-Queries the value being used.
	314	+__15. Angular Deceleration (**AD**)__
317	317
318		-Ex: #5CR<cr>
	316	+{More information coming soon}
319	319
320		-Writes the desired rigidity value to memory.
	318	+Ex:
321	321
322		-__15. N/A (removed)__
	320	+{Description coming soon}
323	323
324		-This command has been removed.
	322	+Query Angular Acceleration (**QAD**)
325	325
	324	+Ex:
	325	+
	326	+{Description coming soon}
	327	+
	328	+Configure Angular Acceleration (**CAD**)
	329	+
	330	+Ex:
	331	+
	332	+{Description coming soon}
	333	+
326	326	__16. RGB LED (**LED**)__
327	327
328	328	Ex: #5LED3<cr>
...	...	@@ -477,30 +477,23 @@
477	477
478	478	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
479	479
480		-**__DEFAULT __**__& **CONFIRM**__
	488	+**__DEFAULT__**
481	481
482	482	Ex: #5DEFAULT<cr>
483	483
484		-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.
485	485
486		-EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	494	+__**FIRMWARE** & **CONFIRM**__
487	487
488		-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>
489	489
490		-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.
491	491
492		-**__UPDATE __**__& **CONFIRM**__
	500	+EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
493	493
494		-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.
495	495
496		-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.
497	497
498		-EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
499		-
500		-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.
501		-
502		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
503		-
504	504	=== Virtual Angular Position ===
505	505
506	506	{In progress}