Control dynamixel servo motor ax 18a with esp32


I would like to use a esp32 board to control a dynamixel ax 18a servo motor. I want to use that board since it can connect to wifi and is relatively cheap. The servo motor I want to use is a digital servo motor using Rx-Tx serial protocol. Is there a library which can be installed on arduino IDE, is compatible with esp32 and can be used for dynamixel ax 18a servo motor?


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