TWIST NOTATION

UPPERCASE = Clockwise to next 90 degree peg
lowercase = Anticlockwise to next 90 degree peg

FACE & SLICE ROTATION COMMANDS

F	Front
S 	Standing (rotate according to Front Face's orientation)
B 	Back

L 	Left
M 	Middle (rotate according to Left Face's orientation)
R 	Right

U 	Up
E 	Equator (rotate according to Up Face's orientation)
D 	Down

ENTIRE CUBE ROTATION COMMANDS

X   Rotate entire cube according to Right Face's orientation
Y   Rotate entire cube according to Up Face's orientation
Z   Rotate entire cube according to Front Face's orientation