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...	...	@@ -395,8 +395,28 @@
395	395
396	396	Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
397	397
398		-====== __15. Identification Number (**ID** #)__ ======
	398	+====== __15. Gyre Rotation Direction (**G**)__ ======
399	399
	400	+"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
	401	+
	402	+Ex: #5G-1<cr>
	403	+
	404	+This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
	405	+
	406	+Query Gyre Direction (**QG**)
	407	+
	408	+Ex: #5QG<cr> might return *5QG-1<cr>
	409	+
	410	+The value returned above means the servo is in a counter-clockwise gyration.
	411	+
	412	+Configure Gyre (**CG**)
	413	+
	414	+Ex: #5CG-1<cr>
	415	+
	416	+This changes the gyre direction as described above and also writes to EEPROM.
	417	+
	418	+====== __16. Identification Number (**ID** #)__ ======
	419	+
400	400	A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands (assuming same baud rate).
401	401
402	402	Query Identification (**QID**)
...	...	@@ -411,7 +411,7 @@
411	411
412	412	Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.
413	413
414		-====== __16. Baud Rate (B)__ ======
	434	+====== __17. Baud Rate (B)__ ======
415	415
416	416	A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
417	417
...	...	@@ -429,26 +429,6 @@
429	429
430	430	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
431	431
432		-====== __17. Gyre Rotation Direction (**G**)__ ======
433		-
434		-"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
435		-
436		-Ex: #5G-1<cr>
437		-
438		-This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
439		-
440		-Query Gyre Direction (**QG**)
441		-
442		-Ex: #5QG<cr> might return *5QG-1<cr>
443		-
444		-The value returned above means the servo is in a counter-clockwise gyration.
445		-
446		-Configure Gyre (**CG**)
447		-
448		-Ex: #5CG-1<cr>
449		-
450		-This changes the gyre direction as described above and also writes to EEPROM.
451		-
452	452	====== __18. First Position (Pulse) (**FP**)__ ======
453	453
454	454	In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
...	...	@@ -463,7 +463,7 @@
463	463
464	464	Ex: #5CP1550<cr>
465	465
466		-This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
	466	+This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
467	467
468	468	====== __19. First / Initial Position (Degrees) (**FD**)__ ======
469	469
...	...	@@ -479,7 +479,7 @@
479	479
480	480	Ex: #5CD64<cr>
481	481
482		-This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
	482	+This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
483	483
484	484	====== __22. Query Target Position in Degrees (**QDT**)__ ======
485	485