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127	127	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|Add modifier "2" for instantaneous speed
128	128	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
129	129	| 15|//N/A (removed)//| | | | | | |
130		-| 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
	130	+| 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=VIOLET 7=MAGENTA, 8=WHITE
131	131	| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
132	132	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
133	133	| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
...	...	@@ -232,10 +232,10 @@
232	232
233	233	Query Position in Pulse (**QP**)
234	234
235		-Example: #5QP<cr> might return *5QP
	235	+Example: #5QP<cr> might return *5QP2334
236	236
237	237	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.
238		-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.
	238	+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 (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
239	239
240	240	__9. Position in Degrees (**D**)__
241	241
...	...	@@ -247,8 +247,10 @@
247	247
248	248	Query Position in Degrees (**QD**)
249	249
250		-Example: #5QD<cr> might return *5QD0<cr>
	250	+Example: #5QD<cr> might return *5QD132<cr>
251	251
	252	+This means the servo is located at 13.2 degrees.
	253	+
252	252	__10. Wheel Mode in Degrees (**WD**)__
253	253
254	254	Ex: #5WD900<cr>
...	...	@@ -379,13 +379,13 @@
379	379
380	380	Query Identification (**QID**)
381	381
382		-EX: #QID<cr> might return *QID5<cr>
	384	+EX: #254QID<cr> might return *QID5<cr>
383	383
384		-When using the query ID command, it is best to only have one servo connected and thus receive only one reply.
	386	+When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
385	385
386	386	Configure ID (**CID**)
387	387
388		-Ex: #CID5<cr>
	390	+Ex: #4CID5<cr>
389	389
390	390	Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like.
391	391
...	...	@@ -432,13 +432,13 @@
432	432
433	433	Ex: #5QFP<cr> might return *5QFP1550<cr>
434	434
435		-The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
	437	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
436	436
437		-Configure First Position in Pulses (CFP)
	439	+Configure First Position in Pulses (**CFP**)
438	438
439	439	Ex: #5CP1550<cr>
440	440
441		-This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up.
	443	+This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
442	442
443	443	__21. First / Initial Position (Degrees)__
444	444