Any Info On Using A Dynamixel

Sorry, Never heard of it. With its documentation, you can build a plugin for it

Add more sensors to your Bioloid! The AX-S1 is housed inside the same casing as the AX-12 BUT the AX-S1 doesn't contain a motor - it is simply a sensing module that can be placed on the same serial network. The AX-S1 consists of:

an IrDA receiver for robot-to-robot communication, 3 IR reflection sensors (Left, Right & Front) that can be used to measure distance and luminosity, a microphone, and a piezo-electric sounder that can be used to play musical scales or simple a beeping sound. This actuator is meant to be used with the Bioloid system.

[color=#777777][font="Helvetica Neue", Helvetica, Arial, sans-serif]Availability: Discontinued[url=https://www.trossenrobotics.com/bioloid-dynamixel-ax-s1-sensor-module.aspx#]

https://www.trossenrobotics.com/bioloid-dynamixel-ax-s1-sensor-module.aspx

Yup seems kapoot!