@rosterloh
I am studying at university atm as well as running a business so don’t have much time but at some point I would like to design a good RPi HAT to drive dynamixels that also has a buck converter to power the RPi and a fan to cool it.
This is the best circut that I have seen for converting from full duplex to half duplex. It would also need a level shifter on the RX pin to conveter the 5v on the bus line to 3.3v
