OpenCM9.04 is an open-source controller that runs on a 32bit ARM Cortex-M3. The 3-Pin connector is used to control ROBOTIS' Dynamixels with TTL communication. Uses a USB Cable (Mircro-B) (included), to download programs onto the board. The board is easily programmable with ROBOTIS' OpenCM, an Arduino-like IDE that allows the user to program in C/C++. JTAG / SWD terminal can be used run commercial developmental programs.