@tlfong01 (1) I really want to do the assignment you give me so i can understand step by step and more details, but i have no USB to serial cable in my home, the cable is only available in the lab on my campus and i'm out of town now, so i'll do it later when i'm back.
(2) Meanwhile, i try to reconfigure my AX12A with joint mode [here's the picture](https://imgur.com/fCyjAxd), i just click the set default button and click the joint mode. After that i really copy all the script from [oppedijk](http://www.oppedijk.com/robotics/control-dynamixel-with-raspberrypi), look like [this](https://img…
(2) Meanwhile, i try to reconfigure my AX12A with joint mode [here's the picture](https://imgur.com/fCyjAxd), i just click the set default button and click the joint mode. After that i really copy all the script from [oppedijk](http://www.oppedijk.com/robotics/control-dynamixel-with-raspberrypi), look like [this](https://img…
