Direct control of the XL 320 servo with a Raspberry

This post introduces a custom C++ library to control the popular Dynamixel XL 320 servo directly with a Raspberry Pi 4, without the need for an additional controller/shield like the OpenCM board. You'll just need a level shifter to drive the motor and LED and an additional logic gates IC in case you want to read the servo's output, but these are cheap and popular electronic components. The Rasberry configuration and wiring are included, with everything you need to have a working setup rapidly.