REQUIREMENTS
-) A Dynamixel with DynamixelSDK 3.X(https://github.com/ROBOTIS-GIT/DynamixelSDK)
-) USB to RS485(http://support.robotis.com/en/product/auxdevice/interface/usb2dxl_manual.htm)
-) Dynamixel C Libarary and headers
-) MATLAB (2016b or later)
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USAGE:

1. Initialize Dynamixel(s) @"example/init_release_script.m" :
>> Ts = 0.02;
>> myDxl = slDxl('COM4', 1000000);
>> myDxl.findDxls()
>> myDxl
>> myDxl.doEnableTorque(N);
>> myDxl.doEnableTorque(2);

2. Simulation/Algorithm @ @"example/slDxl_Ex.slx" :

3. Release Dynamixel(s) @"example/init_release_script.m" :
>> myDxl.doDisableTorque(1);
>> myDxl.doDisableTorque(2);
>> myDxl.delete()

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Finally, more detailed info about use and troubleshooting can be found in the readme.txt file contained in this submission.