=== Interfacing between the Raspberry Pi and the Dynamixel AX-12A servos ===

The Raspberry Pi is capable of communicating with the Dynamixel AX-12A smart servos via several methods. At this point, we recommend [[designs:interfacing:pi:OpenCM|via serial port through an OpenCM 9.04 Arduino-compatible board]].

Other options include: 
  * [[designs:interfacing:pi:USB2Dynamixel|Via USB using the USB2Dynamixel adapter]]. The most straightforward option but also the most expensive per-unit (USB2Dynamixel adapters are around $60) and the USB2Dynamixel adapter isn't exactly small. We have also found some reliability issues with doing this. 
  * [[designs:interfacing:pi:DirectSerial|Via serial port through a 74LS241 driver chip]]. The cheapest option. WARNING: THIS OPTION HAS STABILITY PROBLEMS. AVOID IT FOR NOW.