Yes - add the plugin for dynamixel. Use the robotis dynamix configuration utility to set the servo in wheel mode (continuous rotation). And use a Continuous Rotation servo Movement Panel in ARC. The dynamixel servo will be specified as a Vx (where x is the id configured in the plugin)

Thanks DJ !

Need help DJ...I have tried your instructions and it does not seem to work; FYI, I have used CM530 and roboplus manager to set wheel mode. reinstalled Dynamixel plugin in ez-bulider. used Continuous Rotation servo Movement Panel assigned Vport. LED ON and OFF works in plugin Utility. but servo does not respond.

My quadruped with 8 dynamixels (Joint mode) seems to work as expected.

The values for moving either direction need to be configured within the continuous rotation servo movement panel. The values of each servo to move forward, stop and reverse need to be specified in the configuration menu the movement panel.

Values i have used are Forward : 180 Reverse: 1 Stop: 90

I hope they are correct ??

I have no idea - that's up to the configuration of your dynamixel servos. Also, the dynamixel plugin must have the correct settings for the range as well - and the ID's associated and checked in the plugin.

Here's the instructions to configure the plugin: https://synthiam.com/redirect/legacy?table=plugin&id=39

Ensure the version of the servo is correct. Ensure the CHECKBOX is CHECKED for the ID's of the servos you're using. Ensure the servo Max and Min ranges are correct for the configuration of your servos.

Hi guys...Anyone tried dynamixels in wheel mode with ezbv4 using continuous servo panel ? I am badly stuck in my project; I have been trying for many days..please help...Thanks