as for making a servo: Yeah, all of my other motors are using PID, but that's because I also need torque control. Problem is...I have 7 motors + 7 encoders, and I'm worried about scheduling issues using webbotlib and an axon. I figured that the 7th motor is actually not something that I need torque control for, so I'd just use a servo and call it a day, having the servo deal with its own encoder.
Of course, I could just break up the control to have two uCs or something...and I'm not actually sure if the Axon *will* have scheduling issues, but Admin seems to think it might and until I get the whole robot hand hooked up (in a few weeks...) I won't know :-P
MIKE