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OpenCR with pure C

I bought a OpenCR + Dynamixel. I am new to Dynamixel, so I am not sure how to solve this: I have already some knowledge in how to program an arduino (basically an ATMEGA) in pure C, because I do not want to use the less performant arduino language. But I am not sure where I find the Libraries (in C) to get the Dynamixels to work. There seems no official way, I only find Arduino language examples or ROS stuff. So, how can you use an OpenCR1.0 with Dynamixels in pure C using Atmel Studio for development? Thanks!