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I don't think that would be possible, mainly because the Arduino needs to connect to the RX, TX pins before the RS232 chip is involved.
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To be honest I never got that robot to walk; at the time I was convinced that the motors were not strong enough for a quadruped. With body balancing they might have been up for the job, but I didn’t know how to implement that.The original code was written for robots using "Dynamixel" servos, it could be part of the reason that you aren’t getting the range of motion you expect. I had to make a change to the leg lift height for example. Ultimately, I used the parts from this robot to create a hexapod and swapped over to the "phoenix" code base.At any rate, I found this, maybe it will help you:http://forums.trossenrobotics.com/showthread.php?7...Let me know if you have any other questions, I will do my best to answer them.
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