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...	...	@@ -99,7 +99,9 @@
99	99	| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
100	100	| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
101	101	| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
102		-| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|
	102	+| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
	103	+See details below.
	104	+)))
103	103	| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
104	104	| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
105	105	| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
...	...	@@ -208,13 +208,14 @@
208	208
209	209	Example: #5P2334<cr>
210	210
211		-The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees
	213	+The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
212	212
213	213	Query Position in Pulse (**QP**)
214	214
215	215	Example: #5QP<cr> might return *5QP
216	216
217		-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.
	219	+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.
	220	+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.
218	218
219	219	__9. Position in Degrees (**D**)__
220	220
...	...	@@ -482,23 +482,30 @@
482	482
483	483	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
484	484
485		-**__DEFAULT__**
	488	+**__DEFAULT __**__& **CONFIRM**__
486	486
487	487	Ex: #5DEFAULT<cr>
488	488
489		-This command sets all values to the default values included with the version of the firmware installed on that servo.
	492	+This command sets in motion the reset all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
490	490
491		-__**FIRMWARE** & **CONFIRM**__
	494	+EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
492	492
493		-Ex: #5FIRMWARE<cr>
	496	+Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
494	494
495		-This command clears all user-input values in EEPROM and reverts back to factory defaults for the firmware installed. It does not overwrite any firmware updates. To revert to an older firmware version, please refer to the LSS - Firmware page. The firmware command alone does nothing other than have the servo wait for a confirmation.
	498	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
496	496
497		-EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
	500	+**__UPDATE __**__& **CONFIRM**__
498	498
499		-Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
	502	+Ex: #5UPDATE<cr>
500	500
	504	+This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
501	501
	506	+EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	507	+
	508	+Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
	509	+
	510	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	511	+
502	502	=== Virtual Angular Position ===
503	503
504	504	{In progress}