ardyno

A library to control dynamixel motors. This library allows you to control the Robotis servo motors that use a custom half-duplex serial protocol. You can control TTL models directly from Arduino, without any additional hardware, using hardware or software UART. Communication speed up to 1 MBd is supported with hardware serial. The most useful functions (speed, position, wheel/joint mode) are provided via a very simple high level interface (see test_motor example), but other operations can be done using the generic read/write functions (see test_led example).