Quote:
Originally Posted by DonRotolo
I, personally, favor a LIN bus. The ~10kb/s data flow should be enough (but maybe it isn't?), and it is dirt cheap to implement.
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Not knowing anything about LIN... I'll assume an essentially perfect bit packing for minimal operation.
4 motor controllers * 8 bits/controller/cycle = 312 Hz control
Note that that number goes down if individual addressing is supported, more than 4 controllers are on the bus, more than 8 bits are transmitted (i.e. you're actually using it to gain capabilities not available through PWM -- also, the Talon has 10 bits of output resolution).
I'm not so optimistic that this will be fast enough -- I highly doubt that it would be nearly this efficient.
For running just 1 controller (not the drivetrain), this might be more suitable. I'll look more into the LIN bus.
Edit: It appears the minimum packet size is 5 bytes (there might also be other delays -- I'm just looking at the extreme basics here). That puts the control rate for 1 controller at under 300 Hz... for 2, that's under 150 Hz (and under PWM).