Merge pull request #230 from fabienrohrer/master

Fixed servo alarm management
Merge pull request #231 from fabienrohrer/master

Fixed error message
Merge pull request #232 from fabienrohrer/master

Fixed compilation issue
made some improvements at code level, but not working as expected

P_LED (addr 25) is not the same as P_ALARM_LED (addr 17). They just
happen to share the same physical LED. Sorry for the oversight.

The source still overrides P_ALARM_LED and P_ALARM_SHUTDOWN
Removed alarm() function in step(). Removed alarm() function from Servo.cpp for now

this was causing severe performance slowdown. Removed alarm () function
from Servo.cpp for now
by setting torque limit to zero turning off is not necessary

In practice completely disabling torque may cause the robot to collapse.
TOrque limt takes care of overload prevention.
Restored latest modifications
Removed the not working alarm method
Used the id broadcast macro