Description of the Dynamixel Servo Communication (AX-12, AX-18, etc.)

The Dynamixel line of servos are digital servos that use the UART form of communication. The mode of communication is Half Duplex and Asynchronous sinc ethe full communication happens only on one line. There can be as many as 256 servos on the communication line. Each servo has a unique ID, so when there is a transmission, the data that is sent must contain the ID of the servo that is to be controlled.