Solved a bug that made the robot shake after initialization. The default...

Solved a bug that made the robot shake after initialization. The default compliance slope value was 32 instead of 5 which gave the maximum control slope to the servos and any small position error made them oscillate.

motion/src/motion_manager.c

@@ -185,7 +185,7 @@ uint8_t manager_init(uint8_t num_servos)
     manager_servos[i].center_value=0;
     manager_servos[i].current_value=0;
     manager_servos[i].module=MM_NONE;
-    manager_servos[i].slope=32;
+    manager_servos[i].slope=5;
     manager_servos[i].cw_limit=0;
     manager_servos[i].ccw_limit=0;
   }
@@ -207,7 +207,7 @@ uint8_t manager_init(uint8_t num_servos)
       manager_servos[id].current_value=get_current_position(id);
       get_angle_limits(id,&manager_servos[i].cw_limit,&manager_servos[id].ccw_limit);
       manager_servos[id].module=MM_ACTION;
-      manager_servos[id].slope=32;
+      manager_servos[id].slope=5;
       manager_num_servos++;
     }
     else if(model==0x0C00)// Emmulated servos from the expansion board pan&tilt servos
@@ -220,7 +220,7 @@ uint8_t manager_init(uint8_t num_servos)
       manager_servos[id].current_value=get_current_position(id);
       get_angle_limits(id,&manager_servos[i].cw_limit,&manager_servos[id].ccw_limit);
       manager_servos[id].module=MM_JOINTS;
-      manager_servos[id].slope=32;
+      manager_servos[id].slope=5;
       manager_num_servos++;
     }
   }