On Sunday I started to figure out the Robonova. Very interesting robot.  I like the Idea of preprogrammed motions, so I would like to keep that functionality.  

So far I am looking at two ways of communicating with the RN-1 and robotFoundry

1.)  Get servo values and set servo positions all from the built in serial port.

2.) use the ETX and  ERX port and write a basic program to communicate with the PC.

option 1 is the easiest for end users but also the slowest.  This option also means that the predifined motions cannot be used and we would have to replicate them in  robotFoundry

option2 will allow us to transmit data the fastest, but will be a little work for the end user.  The end user would have to wireup a external 5 volt com  port and download the robotFoundry RN1.bas firmware.  Also there are some speed considerations to consider. I have read on the robosavvy forums that the MCR3024 executes one basic command every 1-2ms so this could really slow things down.  What I mean is that if we are sending Joint positions down to the RN-1 and then having these executed on the RN-1 this could take a long time to process and could be slower than the 9600 bps of the built in com port.  I will have to do the calculations and weigh the differences and come up with the best solution.