code: def get_position_d(self):
          
          data = []
          data.append(0x09)
          data.append(self.servoid)
          data.append(RAM_READ_REQ)
          data.append(POSITION_KD_RAM)
          data.append(BYTE2)
          send_data(data)
          rxdata = []
          try:
              rxdata = SERPORT.read(13)
              return (ord(rxdata[10])*256)+(ord(rxdata[9])&0xff)
          except HerkulexError:
              raise HerkulexError("could not communicate with motors")
docs: Get the D value of the current PID for position