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Originally Posted by yongkimleng
imho the port pins are configured to function as GPIO pins in the first place. As relay controls, the pins may be connected to transistors or FETs. Hence they loose the ability to "read" data. The frequeny response would be slower with external components. Not very familiar with the SPI protocol, it may not be possible to implement it. Can give it a try though.. but I think its easier using the TTL serial port (I know theres one on the mini RC, not sure about the full size one) and perhaps have a serial-spi bridge using a low-end controller  |
Yes, the full sized has a TTL port. Its mainly used by teams for the CMUCam.