Today, I'm going to explain how my interface is programmed...
Or, at least, how the "mouvement" frame is programmed....
I created 1 class Project, 1 class sequence, 1 class position.
The class project has a field sequence[], and each sequence has a field position[].
I can add, remove, move, a position in a sequence. (A sequence corresponds to a sequence of positions).
I can create a new project, and choose the architecture of the robot, and the number of motors. It will create the right number of spinners, and everything to control exactly the number of motors.
When I want to create a new sequence, i have 2 solutions:
- selecting the position of every motor with the spinners
-positioning manually the motors , and getting their positions (I will use the dynamixels)

I also created a panel to configure the motors, their max torque, min/max position, their mode, communication speed, and other options I can choose with dynamixels

As usually, I want to create an interface for many different architectures.
When I choose the architecture while I create a project, it will place the spinners to the right place, in order to correspond as much as possible to the robot.


Now, I still have to finish this part of the interface...
I know that the generated movements will not be "graceful", but I think I will develop some algorithms to go from one position to an other, given sensors, and the positions I decided...Some "semi-autonomous" dynamic walk...


An other interesting point is that I bought an USB2Dynamixel, and I checked, it works with Linux! I am going to use it , before creating my own device...

After all that things, or in the same time, I will make some experiments with an Atmel board, I met somebody during an exhibition, who agrees to give me a development kit during 6 months! The board will be based around one of the latest SAM...