For now the best source of programming information is the old Bioloid User's Guide (Version 1.00). This documentation applies to the older CM-5 controller but almost everything will be the same on the newer CM-510. Presumably the storage layout is different due to the increased size of the CM-510 memory.
You can find the manual on the Robotis site on the Downloads page. Its the oldest file on the list, at the bottom of page three.
You're going to want a compiler environment specific to the ATMEL hardware as well. The primary contenders here are WinAVR and AVR Studio. You can Google these to learn more. Either of these environments along with a C compiler, usually GNU (GCC) can be used to create .hex files that can be downloaded to the robot.
Finally, there has been some excellent work done right here on the Robosavvy forums! Checkout the libavr/libbioloid thread for much more information.Statistics: Posted by Fritzoid — Tue Jan 26, 2010 12:59 pm
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