programming
The Darwin-Mini OpenCM9.04 microcontroller can be used using the Robotis OpenCM software. There is currently no reference manual for the built-in commands but I used the following table to communicate with different feature of the XL-320 actuators. It can be found here: XL-320
Once programming with the Robotis OpenCM software begins, the original firmware will be wiped and the Darwin-Mini app will no longer work. There is no way to access the code that is built into the app in order to change it. If you would like to operate the Darwin-Mini via the app again, the original firmware must be reinstalled. Instructions on how to reinstall the original firmware can be found here: Firmware
A comprehensive user manual can be found at http://support.robotis.com/