Solved a bug in the sync write start address.

Updated the test example.

dynamixel_manager/src/modules/motion_manager.c

@@ -126,7 +126,7 @@ void mmanager_setup(TMotionManager *mmanager)
           if(mmanager->servo_configs[i]->pid==1)
             start_address=mmanager->servo_configs[i]->registers[pos_pid_i].address;
           else
-            start_address=mmanager->servo_configs[i]->registers[cw_comp_margin].address;
+            start_address=mmanager->servo_configs[i]->registers[cw_comp_slope].address;
         }
       }
     }

dynamixel_manager/test/dyn_man_test.c

@@ -97,6 +97,12 @@ void dyn_master_scan(TDynamixelMaster *master,unsigned char *num,unsigned char *
   }
 }
 
+unsigned char dyn_master_read_table(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data)
+{
+  if(length==2)
+    dyn_master_read_word(master,id,address,(unsigned short int *)data);
+}
+
 unsigned char dyn_master_read_word(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned short int *data)
 {
   if(master==&dyn_master1)
@@ -192,7 +198,7 @@ unsigned char dyn_master_start_sync_write(TDynamixelMaster *master,unsigned char
 //    for(i=0;i<length;i++)
 //      printf("    0x%x\n",data[j][i]);
 //  }
-  if(master==&dyn_master1 && address==P_CW_COMPLIANCE_SLOPE && length==4)
+  if(master==&dyn_master1 && address==ax_reg[cw_comp_slope].address && length==4)
   {
     for(i=0;i<num;i++)
       printf("%d,",data[i][2]+(data[i][3]<<8));