Can i apply this code to XL430?

[dkrmsptlfk]

Hi I want to apply this code to XL430 I wrote the code about AX12 myself but I had to write adress of dynamixel (such as ID, baudrate, CWangle, etc.) However i couldn't find about that so i just change the baudrates in ino file which doesn't work. Is there anything i missed for XL430? Please tell me details about what i have to do Thank you

[descampsa]

Hey, sorry for the late reply. If i understand correctly robotis documentation, XL430 uses protocol 2.0 by default. That is not supported by this library for now. You can change the servo protocol to 1.0 using the 'protocol version' register, but i guess you have to use protocol 2.0 to do that.