docs: def makeBaudRatePacket(ID, rate):
  	"""
  	Set baud rate of servo.
  
  	in: rate - 0: 9600, 1:57600, 2:115200, 3:1Mbps
  	out: write packet
  	"""
  	if rate not in [0, 1, 2, 3]:
  		raise Exception('Packet.makeBaudRatePacket: wrong rate {}'.format(rate))
  	pkt = makeWritePacket(ID, xl320.XL320_BAUD_RATE, [rate])
  	return pkt