I am trying to rotate the dynamixel with shortest path.
I mean, when the motor is at 10 degree and want to rotate 350 degree, it should rotate -20 degree direction but it rotates over 340 degree.
What I am considering is two options
Use extended position mode
Use custom pid control loop using velocity mode
But I am worried extended position mode only supports upto 255 revolution, so I have no idea what if the number of rotation exceeds it.
And if I use custom pid control loop I should tune the pid gain, which is very cumbersome.