Dynamixel manager

include/darwin_conf.h

 #ifndef _DARWIN_CONF_H
 #define _DARWIN_CONF_H
 
-#define           RAM_SIZE               1024
-#define           EEPROM_SIZE            256
+#define           RAM_SIZE                    1024
+#define           EEPROM_SIZE                 256 
 
 /* Dynamixel slave configuration */
 #define EEPROM_DYN_SLAVE_BASE_ADDRESS1        ((unsigned short int)0x0000)
 #define EEPROM_DYN_SLAVE_BASE_ADDRESS2        ((unsigned short int)0x0010)
 
-#define DEFAULT_DEVICE_MODEL                  0x7300
+#define DEFAULT_DEVICE_MODEL                  0x001D
 #define DEFAULT_FIRMWARE_VERSION              0x0001
-#define DEFAULT_DEVICE_ID                     0x0001
-#define DEFAULT_BAUDRATE                      0x0010
+#define DEFAULT_DEVICE_ID                     0x0003
+#define DEFAULT_BAUDRATE                      0x0022
 #define DEFAULT_RETURN_DELAY                  0x0000
 #define DEFAULT_RETURN_LEVEL                  0x0002
 
 #define MAX_DYN_SLAVE_TX_BUFFER_LEN           1024
 #define MAX_DYN_SLAVE_RX_BUFFER_LEN           1024
 #define MAX_DYN_SLAVE_REG_BUFFER_LEN          1024
+#define MAX_NUM_SLAVE_DEVICES                 4
 
 /* GPIO configuration */
 #define RAM_GPIO_BASE_ADDRESS                 ((unsigned short int)0x0100)