Best option for controlling ax-12a dynamixels from robotis

Hey guys, I'm just wondering what your guy's opinions are on the best way to control dynamixels with an arduino.

Possible reading material.

https://www.google.com/search?ie=UTF-8&oe=UTF-8&q=dynamixel&btnG=search&domains=http%3A%2F%2Fforum.arduino.cc&sitesearch=http%3A%2F%2Fforum.arduino.cc&gws_rd=ssl