Thanks for the insight.

So might I accomplish what I'm after by having my python code drive, and 
just
send motion commands the from the python interface?   It seems that my 
alternatives would be to either
load a program and step it, doing my sensor magic inbetween steps, or 
just generate the motion commands
and send them on the fly.   I already have a python program that 
generates the program I'm using, so that
may be the way to go.

Thanks!
David

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