Connecting iPad with Arduino + Dynamixel

[slavikshen]

I am trying to build a humanoid controlled by my iPad.

With the help of http://savageelectronics.blogspot.it/20 ... ax-12.html ,
I have succeeded in connecting the iPad with Arduino+Bluetooth Shield+Dynamixel Servos.

Although I can write instructions to the servos, I cannot read any thing from them.

Is there anyone know how to read the status of the Dynamixel servos on Arduino?

The detail of my project is here

http://dynmobile.ghost.io/use-dynamixel ... th-shield/

And the source code is at

https://github.com/slavikshen/DynMobile