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...	...	@@ -42,10 +42,6 @@
42	42	Action modifiers can only be used with certain commands.
43	43	)))
44	44
45		-(((
46		-
47		-)))
48		-
49	49	== Configuration Commands ==
50	50
51	51	Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:LSS - Overview (DEV).LSS - RC PWM.WebHome]].
...	...	@@ -150,7 +150,10 @@
150	150	| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
151	151	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
152	152	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
153		-| 15|//N/A (removed)//| | | | | | |
	149	+| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
	150	+|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	151	+|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	152	+|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
154	154	| 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
155	155	| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
156	156	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
...	...	@@ -164,7 +164,7 @@
164	164	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
165	165	| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
166	166	| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
167		-| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
	166	+| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
168	168	| 30|**RC** Mode| | |CRC| |✓|none|(((
169	169	CRC: Add modifier "1" for RC-position mode.
170	170	CRC: Add modifier "2" for RC-wheel mode.
...	...	@@ -356,7 +356,7 @@
356	356
357	357	Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
358	358
359		-__14. Angular Stiffness (AS)__
	358	+__14. Angular Stiffness (**AS**)__
360	360
361	361	The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
362	362
...	...	@@ -384,10 +384,38 @@
384	384
385	385	Writes the desired angular stiffness value to memory.
386	386
387		-__15. N/A (removed)__
	386	+__15. Angular Hold Stiffness (**AH**)__
388	388
389		-This command has been removed.
	388	+The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
390	390
	390	+Ex: #5AH3<cr>
	391	+
	392	+This sets the holding stiffness for servo #5 to 3 for that session.
	393	+
	394	+Query Angular Hold Stiffness (**QAH**)
	395	+
	396	+Ex: #5QAH<cr> might return *5QAH3<cr>
	397	+
	398	+This returns the servo's angular holding stiffness value.
	399	+
	400	+Configure Angular Hold Stiffness (**CAH**)
	401	+
	402	+Ex: #5CAH2<cr>
	403	+
	404	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	405	+
	406	+__15b: Angular Acceleration (**AA**)__
	407	+
	408	+{More details to come}
	409	+
	410	+__15c: Angular Deceleration (**AD**)__
	411	+
	412	+{More details to come}
	413	+
	414	+__15d: Motion Control (**MC**)__
	415	+
	416	+{More details to come}
	417	+
391	391	__16. RGB LED (**LED**)__
392	392
393	393	Ex: #5LED3<cr>