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...	...	@@ -128,7 +128,7 @@
128	128	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
129	129	| 15|//N/A (removed)//| | | | | | |
130	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=MAGENTA, 7=WHITE
131		-| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
	131	+| 17|**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)
134	134	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
...	...	@@ -522,10 +522,16 @@
522	522
523	523	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
524	524
525		-__20. RC Mode (**CRC**)__
	525	+__30. RC Mode (**CRC**)__
526	526
527		-This command puts the servo into RC mode, where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode only using the button menu.
	527	+This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
528	528
	529	+|**Command sent**|**Note**
	530	+|ex: #5CRC<cr>|Stay in smart mode.
	531	+|ex: #5CRC1<cr>|Change to RC position mode.
	532	+|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
	533	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
	534	+
529	529	EX: #5CRC<cr>
530	530
531	531	__**RESET**__
...	...	@@ -566,14 +566,19 @@
566	566
567	567	[[image:LSS-servo-positions.jpg]]
568	568
569		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
	575	+Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
570	570
571		-#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
	577	+#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
572	572
573	573	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
574	574
575		-#1D-4200<cr> The servo rotates counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees and (420.0-360.0) stopping at an absolute position of 60.0 degrees, but virtual position of -420.0.
	581	+#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
576	576
577		-Although the final position would be the same as if the servo were commanded to move to -60.0 degrees, it is in fact at -420.0 degrees.
	583	+Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
578	578
579		-#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	585	+#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	586	+
	587	+#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
	588	+
	589	+
	590	+If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).