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...	...	@@ -39,7 +39,7 @@
39	39
40	40	Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
41	41
42		-Modified commands are command specific.
	42	+Action modifiers can only be used with certain commands.
43	43	)))
44	44
45	45	(((
...	...	@@ -105,6 +105,30 @@
105	105	#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
106	106
107	107	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	108	+
	109	+=== Virtual Angular Position ===
	110	+
	111	+{In progress}
	112	+
	113	+A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
	114	+
	115	+[[image:LSS-servo-positions.jpg]]
	116	+
	117	+Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
	118	+
	119	+#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
	120	+
	121	+#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
	122	+
	123	+#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.
	124	+
	125	+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.
	126	+
	127	+#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.
	128	+
	129	+#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
	130	+
	131	+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).
108	108	)))
109	109
110	110	= Command List =
...	...	@@ -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
	155	+| 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 |
...	...	@@ -147,7 +147,9 @@
147	147	Any other value for the modifier results in staying in smart mode.
148	148	Puts the servo into RC mode. To revert to smart mode, use the button menu.
149	149	)))
150		-| | | | | | | | |
	174	+|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
	175	+|32|**DEFAULT**| | | | |✓|none|Revert to firmware defaults. See command for details
	176	+|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
151	151
152	152	= Details =
153	153
...	...	@@ -524,28 +524,23 @@
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.
	553	+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.**
	559	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
539	539
540	540	EX: #5CRC<cr>
541	541
542		-__**RESET**__
	563	+__31. RESET__
543	543
544	544	Ex: #5RESET<cr> or #5RS<cr>
545	545
546	546	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
547	547
548		-**__DEFAULT __**__& **CONFIRM**__
	569	+__32. DEFAULT & CONFIRM__
549	549
550	550	Ex: #5DEFAULT<cr>
551	551
...	...	@@ -557,7 +557,7 @@
557	557
558	558	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
559	559
560		-**__UPDATE __**__& **CONFIRM**__
	581	+__33. UPDATE & CONFIRM__
561	561
562	562	Ex: #5UPDATE<cr>
563	563
...	...	@@ -569,22 +569,4 @@
569	569
570	570	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
571	571
572		-=== Virtual Angular Position ===
573		-
574		-{In progress}
575		-
576		-A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
577		-
578		-[[image:LSS-servo-positions.jpg]]
579		-
580		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
581		-
582		-#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
583		-
584		-#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
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.
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.
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.
	593	+=== ===