Dynamixel controller for AX-12A/W, XL-320 with IMU and BT

• This repo contains the Eagle schematics and PCB laout for a functional dynamixel controller. The board is still in early development and the design is subject to change. Clone & build at your own risk :)
• Firmware example for a XL-320 based balancing bot can be found here.
• The mechanical design for an AX-12A hexapod is complete, but the firmware is still in early development
• Alexa integration is still in the "ripoff a sample" stage
• The board can be assembled by hand relatively easy, using a stencil, low temperature T3/T4 paste and a hot plate.
• There is no battery monitoring circuitry on the board. Undervoltage detection for a given battery type and automatic shutdown can be achieved by using the MIN_VOLTAGE_LIMIT and SHUTDOWN registers in the dynamixel control table.
• The board is BT and Thread capable, but integration between the nRF and the ESP is currently limited to I2C + one GPIO line.

• nRF/ESP integration
• Expansion header