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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 |
...	...	@@ -524,18 +524,13 @@
524	524
525	525	__30. RC Mode (**CRC**)__
526	526
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 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		-CRC: Add modifier "1" for RC-position mode.
530		-CRC: Add modifier "2" for RC-wheel mode.
531		-Any other value for the modifier results in staying in smart mode.
532		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
533		-
534	534	|**Command sent**|**Note**
535	535	|ex: #5CRC<cr>|Stay in smart mode.
536	536	|ex: #5CRC1<cr>|Change to RC position mode.
537	537	|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
538		-|ex: #5CRC***<cr>**|Where *** is any number or value. Stay in smart mode.**
	533	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
539	539
540	540	EX: #5CRC<cr>
541	541
...	...	@@ -577,14 +577,19 @@
577	577
578	578	[[image:LSS-servo-positions.jpg]]
579	579
580		-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.
581	581
582		-#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)
583	583
584	584	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
585	585
586		-#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.
587	587
588		-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.
589	589
590		-#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).