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Re: Anyone interested in a Linux-based robot solution?
Rather than go into the details, not sure that I'd do it very accurately anyway, find a way for the "dangerous" outputs to have a trusted element that can shut them down when things aren't updated or when the field explicitly requests it.
On the cRIO, there are several trusted pieces that pose challenges to each other to make pretty sure they are legit. The FPGA ultimately controls the PWMs, relays, and solenoids, CAN doesn't go through the FPGA, but includes info from the FPGA to generate the keys for the jag heartbeats. If/when this project goes further, ask for more details.
Greg McKaskle
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