ax12 motors on yun controlled via android (app?) over wifi (offcourse)

Hi Guys

So I have a challenge I want to control a few ax12 motors from preferably a app in android.

after some research i havent found a nice open source app builder wich i can program freely (noob style). and then send these values back to the yun.

also i haven`t managed to get the moeots to work directctky using savage libraries wich does work on the arduino mega2560

#include <DynamixelSerial.h>
#include <LiquidCrystal.h>

// initialize the library with the numbers of the interface pins
LiquidCrystal lcd(8,9,4,5,6,7);

int Temperature,Voltage,Position = 0;
int first = 1;
int quantity = 3;
int relais1 = 44;

void setup(){
  // set up the LCD's number of columns and rows: 
  lcd.begin(16, 2);
  // Print a message to the LCD.
  lcd.print("hello, world!");
  Dynamixel.begin(1000000,2);  // Inicialize the servo at 1Mbps and Pin Control 2
  delay(1000);
  //  Serial.begin(9600);
  //  delay(1000);
  Serial.println("done initializing \n");
  for (int id = first ; id <=  quantity ; id++)
  { 
    pinMode((relais1-1 + id), OUTPUT);
    digitalWrite( ((relais1-1 + id)), HIGH);    // sets the LED off
    delay(100);
  }
}

void loop(){
  for (int id = first ; id <=  quantity ; id++){
    //    Dynamixel.reset(id);
    //    delay(100);
    //    Dynamixel.setEndless(id, OFF);
    //    delay(100);

    Temperature = Dynamixel.readTemperature(id); // Request and Print the Temperature
    delay(10);
    Voltage = Dynamixel.readVoltage(id);         // Request and Print the Voltage
    delay(10);
    Position = Dynamixel.readPosition(id);       // Request and Print the Position 
    delay(10);


    Dynamixel.move(id ,random(200,800));  // Move the Servo radomly from 200 to 800
    delay(1000);

    lcd.clear();
    lcd.print("I=");   // Print the variables in the Serial Monitor
    lcd.print(id);
    lcd.print(" T=");   // Print the variables in the Serial Monitor
    lcd.print(Temperature);
    lcd.print(" V=");
    lcd.print(Voltage);
    lcd.setCursor(0,1);
    lcd.print("P= ");
    lcd.print(Position);


    digitalWrite((relais1-1 + id) , LOW);   // sets the LED on
    delay(10);                  // waits for a second
    int val = analogRead(1);
    lcd.print(" S=");
    lcd.print(val);
    Dynamixel.move(id,val);
    delay(1000);
    digitalWrite( ((relais1-1 + id)), HIGH);    // sets the LED off
    delay(10);                  // waits for a second
    Position = Dynamixel.readPosition(id);       // Request and Print the Position 
    delay(10);
    lcd.clear();
    lcd.print("I=");   // Print the variables in the Serial Monitor
    lcd.print(id);
    lcd.print(" T=");   // Print the variables in the Serial Monitor
    lcd.print(Temperature);
    lcd.print(" V=");
    lcd.print(Voltage);
    lcd.setCursor(0,1);
    lcd.print("P= ");
    lcd.print(Position);
    lcd.print(" S=");
    lcd.print(val);
    delay(10);
  }

}