Here is my second pass at running my Trossen PhantomX MKII with a Raspberry Pi. I’ve finally decided to give it a name…. “Charlotte.” It’s called “Charlotte.” It’s running a custom c++ port of the Phoenix software developed by Jeroen Janssen, Kurt Eckhardt and Kåre Halvorsen. All the Inverse Kinematics are calculated on the fly using the law of sines on the RasPi. This version is all floating point and standard math libraries are used. Communication to the servos are done with a USB2AX created by Nicolas Saugnier and using a modified Robotis Dynamixel SDK. Power to the servos is provided by the Robotis SMPS2dynamixel. Remote Control is handled by a USB XBee module and Arbotix Commander.