Controlling Dynamixel Ax-12 With Arduino Mega
With Dynamixel library you can use servo this easily:
#include &lt;DynamixelSerial.h&gt;

void setup(){
   Dynamixel.begin(1000000,2);  // Inicialize the servo at 1Mbps and Pin Control 2
}

void loop(){
    Dynamixel.move(1,0);
    delay(2000);
    Dynamixel.move(1,500);
    delay(2000);
    Dynamixel.move(1,1000);
    delay(2000);
}

Example moves servo and makes pauses of 2 sec.
Installation is easy:

Installation:
Copy the files from DynamixeSerial to your IDE libraries folder.

DynamixelSerial folder can be found here: https://sourceforge.net/projects/dynamixelforarduino/files/?source=navbar