Hi all, I am new to servos and robotics. Currently I have Dynamixel MX-28AT(2.0) actuators. I wish to accomplish few things but I do not know how to achieve this. Please guide me- 3 servos are series connected and controlled by TTL pulse from U2D2 controller. 1. I wish to accomplish real time motion in the servos which means how can I set frequency of a motion. For example Fc = 0.145; T = 1/Fc; a = 90; q2 = a* sin(2piFct); Q(2,j) = q2/0.0879 ; m_pos(2) = p2 + 0 Q(2,j) ; M2(j) = m_pos(2); this is the motion I want to give to motors, how should I code so that the motor motion is finished in T time (here T ~ 7secs). Depending on the interval 't' the servos are slowing down or speeding up. 2. How to run servos on constant angular velocity? Please educate me in this regard.