Quote:
Originally Posted by Joe Ross
The driver station only reads 6 axes. If you want the 7th axis, you need to use a remapping program and get rid of one of the other axes.
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I've never really explored how the drivers' station works, but if you are writing your own remapping software then you could do something funny like multiplex the bits of multiple axes together and then de-multiplex them on the other side.
So for example, if each axis is normally 16 bits you could make your remapper program squeeze two in if you allocated 8 bits to each.
On computer:
Code:
uint16_t axis_4_in,axis_7_in,axis_4_out;
axis_4_out=(axis_4_in&0xff00) | (axis_7_in>>8);
On robot:
Code:
uint16_t axis_4_in,axis_4_out,axis_7_out;
axis_4_out=axis_4_in&0xff00;
axis_7_out=axis_4_in<<8;
This would discard the lower eight bits, but presumably you don't need more than 256 different positions for each axis anyway.
There may be some simpler way to do this like just opening a TCP stream or something; again, I haven't really looked into what you can do with the drivers' station.