Raspberry_XL320_cpp is a class designed to be used with a Raspberry Pi (stretch), using the serial interface, to drive Dynamixel XL320 servomotors.
Personally I use the PIXL board which can be directly plugged on the raspberry
It is necessary to install wiringPi first.
The UART must be enabled by modifying the initial settings such as:
- in /boot/config.txt add :
dtoverlay=pi3-miniuart-bt
core_freq=250 - in /boot/cmdline.txt :
console=tty1