Bugfix: No need to increment the ID when setting the max torque, this is a leftover error from earlier code.

aentinger · aentinger · commit f109c2fb0db7 · 2022-08-22T08:15:15.000+02:00
diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp
@@ -283,7 +283,7 @@ void SmartServoClass::setMaxTorque(uint16_t const torque)
 void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const torque)
 {
   mbed::ScopedLock<rtos::Mutex> lock(_mtx);
-  writeWordCmd(id+1, REG(SmartServoRegister::MAX_TORQUE_H), torque);
+  writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), torque);
 }
 
 void SmartServoClass::setID(uint8_t const id)

Original file line number	Diff line number	Diff line change
`@@ -283,7 +283,7 @@ void SmartServoClass::setMaxTorque(uint16_t const torque)`
`283`	`283`	`void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const torque)`
`284`	`284`	`{`
`285`	`285`	`mbed::ScopedLock<rtos::Mutex> lock(_mtx);`
`286`		`- writeWordCmd(id+1, REG(SmartServoRegister::MAX_TORQUE_H), torque);`
	`286`	`+ writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), torque);`
`287`	`287`	`}`
`288`	`288`
`289`	`289`	`void SmartServoClass::setID(uint8_t const id)`