I received a prototype PhantomX using the XL430-W250 servos as you can see in the picture:
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Which I am beginning to experiment with. Currently been spending most play time on Teensy 4.x beta and USB Bluetooth support.

Earlier I built a version of the Phoenix code base that runs on the OpenCM controller using the Dynamixel SDK which I will be starting my testing with. The code was earlier setup to be able to handle both AX and XL servos (Protocol1 and Protocol 2) on either Serial1 and/or Serial3... I had done some testing with the Current PhantomX with AX servos with one leg setup as XL430 servos... So should be able to get something sort of walking...

But in that code base I have not done anything specific to take advantage of Protocol2 yet. Like maybe remove the interpolation from the main code and have the servos do it, maybe ask all of the servos for information through Sync Reads...

Some of the experimenting I want to do also includes trying to figure out some reasonable configurations of the electronics and input/output devices that maybe Trossen might consider as default configurations, that make sense and do not need any proprietary hardware that Trossen needs to support.

That is what I would personally like to get away from is any usage of things like the Arbotix board which requires someone to maintain an Arduino Install, maybe likewise something other than the commander...

Note: in the above picture, the setup is not complete, that is currently they have an RPI3 connecting to an OpenCM9.04 board with a DXL hub that connects to the servos. The main power goes into the power switch and connects to the HUB, the OpenCM board gets power through the DXL connection (hub has an xl320 servo connector on it that jumpers to the OpenCM board).

What the board does not have yet is any way to power the RPI3. Also it does not have any Input devices... Although could connect PS3 or like controller using BT...

So wondering if anyone has suggestions on what a couple of different configurations might be?

I see two or three different suggested setups:

Beginner/Entry Level

Maybe what is there minus RPI3 - (openCM9.04, Hub).

Question is what to use for Input? I have an XBee adapter I hacked up that can connect to the Serial2 of the OpenCM board, and then connects to Commander... This is what I will start with.

But what if there are no more commanders, what input device makes sense? Personally I think the Robotis remote control is too limited (just 10 buttons, no analog ones...), that connects using their BT adapter.

I think it is beyond entry level and not sure you can see off the shelf parts to connect up PS3/PS4 controller. In this configuration wish to avoid Linux setups (RPI). Other Bluetooth setups? Again probably not easily setup for beginner.
Board with something like Arduino Host Shield 2? A second board like Teensy 3.6? ...

What about sound and other IO devices?

Other suggestions?

More Advanced configuration

Include something like RPI3?

Do you stay using something like OpenCM board? Move up to OpenCR board, or use something like U2D2?

How do you power the RPI3? Now with OpenCR, there is 5v take off that could power it... Or do you use a BEC?

And again more on what IO devices to support.

Again suggestions?

More later...