change DXL ID
#define TORQUE_ON 1 // Value for enabling the torque
#define TORQUE_OFF 0 // Value for disabling the torque
-#define JOINT1 3
-#define JOINT2 4
-#define JOINT3 5
-#define JOINT4 6
-#define GRIPPER 7
+#define JOINT1 11
+#define JOINT2 12
+#define JOINT3 13
+#define JOINT4 14
+#define GRIPPER 15
#define DEBUG_SERIAL SerialBT2
