A C++ library to control the Dynamixel XL 320 servo with a Raspberry Pi 4.
This library provides a class to control one or several of the popular XL 320 servo directly with Raspberry Pi 4 model B, without the need for an extra board. Some additionnal harwdare is however needed, like a level shifter to convert the 3.3V logic of the Raspberry into 5V.
A complete tutorial with a bill of materials, installation instructions and sample wirings is available at: