Overview of the electronics
OPPAS Mk. 1.0 uses a Duo as main microcontroller board. A library for controlling the Dynamixel servos (called DuoDMXL) has been developed and is currently being documented in:
The overview of the electronics setup can be seen in the following picture:
The MX-64AR servos require additional hardware for communication. Check the documentation of DuoDMXL for additional information.