Choice of interconnect

I have been looking at different ways of connecting the different tiers of the robot that facilitates the following characteristics:

  • Real-time
  • Fault tolerant
  • Embedded
  • Low-power
  • Broadcast friendly
  • Master-less (survives
  • Adaptive (survives topology changes)
  • Bus architecture (many nodes)
  • "Fast"

So far the most likely candidate seems to be CANbus.

I will investigate further.

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