Well it's be a while since the last update after the holidays they a quick trip overseas
it time to get back to work. Robbies shoulder lift joint now works the PID controller works under load. The problem was the arduino was doing to much 2 PID controllers and 4 servos was to much so now I’m just going to use one arduino per joint and communication will be do with I2C. Using the toner transfer method I can make the PCB's required for a good price. That just leaves the gear box's going to try using a harmonic gearbox from thingiverse 16:1 reduction should give enough torque.
The ROS drive now publishes motor states and a Joint_state publisber now publishes all the joints and the dynamixels as well