Solved a problem in the computation of the slopes.

src/motion_manager.c

@@ -37,8 +37,8 @@ void manager_send_motion_command(void)
     if(manager_servos[i].enabled && manager_servos[i].model!=0x0000)
     {
       servo_ids[num]=manager_servos[i].id;
-      manager_servos[i].cw_comp=(1<<manager_current_slopes[i]);
-      manager_servos[i].ccw_comp=(1<<manager_current_slopes[i]);
+      manager_servos[i].cw_comp=(1<<(manager_current_slopes[i]&0x0F));
+      manager_servos[i].ccw_comp=(1<<((manager_current_slopes[i]&0xF0)>>4));
       write_data[num].data_addr=(uint8_t *)&(manager_servos[i].cw_comp);
       num++;
     }