Solved a bug in the set_punch() function: the register address was written...

Solved a bug in the set_punch() function: the register address was written instead of the actual value.
Chnaged the control mode depending on the parameters of the set_position_range() function.

src/dynamixel_motor.cpp

@@ -479,6 +479,10 @@ void CDynamixelMotor::set_position_range(double min, double max)
         usleep(10000);
 	this->dynamixel_dev->write_word_register(this->registers[cw_angle_limit],min_pos);
         usleep(10000);
+        if(this->config.min_angle==-this->info.center_angle && this->config.max_angle==-this->info.center_angle)
+          this->mode=torque_ctrl;
+        else
+          this->mode=angle_ctrl;
       }catch(CDynamixelAlarmException &e){
 	/* handle dynamixel exception */
 	if(e.get_alarm()&this->alarms)
@@ -1364,10 +1368,10 @@ void CDynamixelMotor::set_punch(unsigned short int punch_value)
   else
   {
     try{
-      if(punch<0x0020 || punch>0x03FF) 
+      if(punch_value<0x0020 || punch_value>0x03FF) 
         throw CDynamixelMotorException(_HERE_,"Invalid Punch value");
-      this->config.punch=punch;
-      this->dynamixel_dev->write_word_register(this->registers[punch],punch);
+      this->config.punch=punch_value;
+      this->dynamixel_dev->write_word_register(this->registers[punch],punch_value);
     }catch(CDynamixelAlarmException &e){
       /* handle dynamixel exception */
       if(e.get_alarm()&this->alarms)

src/xml/dyn_config.xml

+<?xml version="1.0"?>
+
+<dyn_server_ftdi_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+       xsi:noNamespaceSchemaLocation="dyn_motor_group_cfg_file.xsd">
+
+  <serial_num>A400gavq</serial_num>
+  <baudrate>1000000</baudrate>
+</dyn_server_ftdi_config>