Dynamixel: Motor communication uses full-duplex UARTs while half-duplex should be viable due to 1-wire communication on motor side

[tygamvrelis]

The Dynamixel motors use a half-duplex UART for communication, therefore there is no reason we need to use full-duplex UARTs to communicate with them. In fact, this only complicates the circuitry.

The first step to resolving this issue will be testing half-duplex UART communication with the motors (either on the robot or a standalone setup). Should this not pose any problems, this issue can be resolved by updating the Dynamixel library and Cube project to use half-duplex UART communication.

[tygamvrelis]

This is high priority because it impacts how the electrical team will proceed with the redesign of the circuit

[tygamvrelis]

Upon first investigation, it appears that we cannot initiate DMA receptions with half-duplex UART. Will need to check the datasheet for the MCU though.