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The important thing to keep in mind is that the Stamp is a VERY small part of the OI/RC system. Basically, it is only there to allow us to program more easily. After all, a Stamp IIsx is only about $30-$45, but the whole RC/OI setup is $1145. There are SEVERAL other microprocessors that are far more expensive than the Stamp in both the RC and the OI. These are the ones that deal with all the communications between the two pieces.
As for the Radio Modems, they ARE bi-directional. After all, the OI needs to send Joystick data to the RC and the RC needs to send dashboard/LED data to the OI.
If you feel like doing the serial port thing yourself, I'd appreciate it as I'm currently in the middle of the Linux port of RoboEmu. About the only advice I can give you is that the Radio Modems are 9600bps, so I would guess the thether probably is too.
--Rob
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