So far I've seen the packaging advantage of CAN to be that you can place your controller directly by your actuator, and have your sensors bundled right in, to make a modular actuator which is easily manufacturable and replacable. (Say, an arm module, or a wheel module for the drivetrain)
Are you interested in creating something like your CANipede on a smaller scale for FIRST use? Here's what I would be interested in:
- A relay module with a limit switch in each direction. Fusing, an LED indicator, reverse-voltage protection, socketed relays, and pluggable power connectors would be nice too.
- A PWM-based servo controller with just two or three outputs for the camera gimble. You could even put the 5v camera power right there, and provide an extra-flexible ethernet ribbon cable for the camera.