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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.RB1

Content

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232	232
233	233	Query Position in Pulse (**QP**)
234	234
235		-Example: #5QP<cr> might return *5QP2334
	235	+Example: #5QP<cr> might return *5QP
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 (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).
	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.
239	239
240	240	__9. Position in Degrees (**D**)__
241	241
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247	247
248	248	Query Position in Degrees (**QD**)
249	249
250		-Example: #5QD<cr> might return *5QD132<cr>
	250	+Example: #5QD<cr> might return *5QD0<cr>
251	251
252		-This means the servo is located at 13.2 degrees.
253		-
254	254	__10. Wheel Mode in Degrees (**WD**)__
255	255
256	256	Ex: #5WD900<cr>
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373	373
374	374	Configure LED Color (**CLED**)
375	375
376		-Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
	374	+Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
377	377
378	378	__17. Identification Number__
379	379
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434	434
435	435	Ex: #5QFP<cr> might return *5QFP1550<cr>
436	436
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").
	435	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
438	438
439		-Configure First Position in Pulses (**CFP**)
	437	+Configure First Position in Pulses (CFP)
440	440
441	441	Ex: #5CP1550<cr>
442	442
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).
	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.
444	444
445	445	__21. First / Initial Position (Degrees)__
446	446
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486	486
487	487	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
488	488
489		-|*Value returned|**Status**|**Detailed description**
	487	+|*Value returned****|**Status**|**Detailed description**
490	490	|ex: *5Q0<cr>|Unknown|LSS is unsure
491	491	|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
492	492	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely