[Greg McKaskle]

I feel obligated to caution people building a soft driver station to make sure that it has good safety measures in place. NI built a soft driver station early on because we didn't have enough PDB ones for testing. The protocol and such is pretty straightforward, and I'm not really concerned about you messing up any aspect of implementing it. But, the HW driver station has several nice safety features that you may want to keep in play if/when using a soft one.

The ones I'm thinking about is primarily the estop, but also the auto/tele. Actually, I'd encourage you to always start your soft station in auto-disabled and not have history like the switches do. But do try to use the spacebar or a HW red button or something similar to allow for quickly disabling when things get intense.

Other than that, I can't wait to see what you come up with.
Greg McKaskle