I Made a boo-boo

Forgot to change the servo id to 0 - 15, was 1 - 16. Oops
New Gohom feature
Revert "New Gohom feature"

This reverts commit 96a77d1bbf382f796c340f971ccfc048b136ed0a.
Revert "Revert "New Gohom feature""

This reverts commit 234777d83c3b34fdc0f8209aa3cc8eb482629149.