I am a bit confused by the wiring diagram. I was under the assumption that a "mini-enCABulator" ran on CANCAB which is faster, and more direct, but considerably more expensive than CANBUS.
My guess is someone is using the SSEP (seinfeld status enhancement protocol) for the message delivery. SSEP uses CANBUS for the majority of the trip, but switches to CANCAB right before exchange of information that way the recipient thinks the message is more important because it uses CANCAB.
It has been my experience that SSEP sounds great in theory, but requires an open CAB near the exchange point. All too often this results in long waits and longer total message delivery times. While the Status is higher, the extended period (and possible tardiness) negate the benefits of the CANBUS/CAB strategy.
Both of these systems suffer schedule issues due to high traffic or adverse environmental conditions. Thus I am hoping FRC someday adopts a more stable system like LightRail (high volume, efficient, and reliable in Europe). I think the added weight of 2-3 rails is worth it for its stability. I heard rumors there might even be an IFI MONORAIL system that only uses one continuous strand of wire for both power and control. Say it with me folks:
"MONORAIL" Until MONORAIL, I would be cautious of using the mini-enCABulator.
Now, another controls item I would be interested in is supposedly being worked on not too far from Kettering University. With the minibots, an additional wireless connection is needed, so I heard rumors abothat the Wreless Bridge we use could be replaced with a Wireless Tridge being worked on in mid-michigan. Anyone hear anymore details on the Tridge?
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I should warn you folks, I am a an ME, and the above information is my interpretation of what I overheard our programmers talking about. If this information is not 100% correct, you should follow the default advice I have for when anything goes wrong:
Blame the Programmers