Solved a minor bug in the scan function. It stopped after scanning the first frequency.

src/dynamixelserver.cpp

@@ -51,7 +51,7 @@ void *CDynamixelServer::scan_thread(void *param)
   std::string serial,name;
   CDynamixel *device;
   int freq=0,id=0;
-  bool end=false;
+  bool end=false,found=false;
 
   dyn_server->close();
   dyn_server->state=dyn_scanning;
@@ -60,9 +60,9 @@ void *CDynamixelServer::scan_thread(void *param)
     try{
       serial=ftdi_server->get_serial_number(dyn_server->bus_info.bus_id);
       dyn_server->comm_dev=ftdi_server->get_device(serial);
-      for(freq=1;freq<9;freq++)
+      for(freq=0;freq<9;freq++)
       {
-        dyn_server->set_baudrate(frequencies[freq-1]);
+        dyn_server->set_baudrate(frequencies[freq]);
         for(id=0;id<0xFD;id++)
         {
           if(dyn_server->event_server->event_is_set(dyn_server->stop_scan_event_id))
@@ -79,7 +79,7 @@ void *CDynamixelServer::scan_thread(void *param)
               continue;
             }
             dyn_server->dynamixel_access.enter();
-            dyn_server->bus_info.baud_rate=frequencies[freq-1];
+            dyn_server->bus_info.baud_rate=frequencies[freq];
             device_name.str("");
             device_name << "dynamixel_bus_" << dyn_server->bus_info.bus_id << "_dev_" << id;
             name=device_name.str();
@@ -90,10 +90,10 @@ void *CDynamixelServer::scan_thread(void *param)
             device->usb_rx_event_id=dyn_server->comm_dev->get_rx_event_id();
             dyn_server->dynamixel_access.exit();
             dyn_server->devices.push_back(device);
+            found=true;
           }
-          if(end) break;
         }
-        if(dyn_server->bus_info.baud_rate!=-1)
+        if(found)
         {
           end=true;
           break;