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...	...	@@ -143,7 +143,7 @@
143	143	| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
144	144	Inherited from SSC-32 serial protocol
145	145	)))|(% style="text-align:center; width:113px" %)
146		-| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	146	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147	147	| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
148	148	| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
149	149	| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
...	...	@@ -164,6 +164,7 @@
164	164	Limp
165	165	)))
166	166	| 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
	167	+| 20|[[**T**arget (**D**eg) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
167	167	| 21|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
168	168	| 22|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
169	169	| 23|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
...	...	@@ -302,13 +302,6 @@
302	302
303	303	This means the servo is located at 13.2 degrees.
304	304
305		-(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
306		-Query Target Position in Degrees (**QDT**)
307		-
308		-Ex: #5QDT<cr> might return *5QDT6783<cr>
309		-
310		-The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
311		-
312	312	====== __10. Wheel Mode in Degrees (**WD**)__ ======
313	313
314	314	Ex: #5WD900<cr>
...	...	@@ -401,28 +401,8 @@
401	401
402	402	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.
403	403
404		-====== __15. Gyre Rotation Direction (**G**)__ ======
	398	+====== __15. Identification Number (**ID** #)__ ======
405	405
406		-"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).
407		-
408		-Ex: #5G-1<cr>
409		-
410		-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.
411		-
412		-Query Gyre Direction (**QG**)
413		-
414		-Ex: #5QG<cr> might return *5QG-1<cr>
415		-
416		-The value returned above means the servo is in a counter-clockwise gyration.
417		-
418		-Configure Gyre (**CG**)
419		-
420		-Ex: #5CG-1<cr>
421		-
422		-This changes the gyre direction as described above and also writes to EEPROM.
423		-
424		-====== __16. Identification Number (**ID** #)__ ======
425		-
426	426	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).
427	427
428	428	Query Identification (**QID**)
...	...	@@ -437,7 +437,7 @@
437	437
438	438	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.
439	439
440		-====== __17. Baud Rate (B)__ ======
	414	+====== __16. Baud Rate (B)__ ======
441	441
442	442	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.
443	443
...	...	@@ -455,6 +455,26 @@
455	455
456	456	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
457	457
	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	+
458	458	====== __18. First Position (Pulse) (**FP**)__ ======
459	459
460	460	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.
...	...	@@ -469,7 +469,7 @@
469	469
470	470	Ex: #5CP1550<cr>
471	471
472		-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).
	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).
473	473
474	474	====== __19. First / Initial Position (Degrees) (**FD**)__ ======
475	475
...	...	@@ -485,8 +485,14 @@
485	485
486	486	Ex: #5CD64<cr>
487	487
488		-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.
	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.
489	489
	484	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
	485	+
	486	+Ex: #5QDT<cr> might return *5QDT6783<cr>
	487	+
	488	+The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
	489	+
490	490	====== __23. Query Model String (**QMS**)__ ======
491	491
492	492	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>