Trossen PhantomX controlled by a Raspberry Pi

So here is my work in progress of my PhantomX controlled by a Raspberry Pi. It's running a c/c++ port of the Phoenix software developed by Jeroen Janssen, Kurt Eckhardt and Kåre Halvorsen. This version is all floating point and standard math libraries are used. Body FK is still rough and is prone to glitches so more work is needed.

Communication to the servos are done with the Robotis USB2Dynamixel and their SDK. Power to the servos is provided by the Robotis smps2dynamixel. Power to the Rpi will be done with a BEC from Castle Creations when I mount all this inside.