[Mike Copioli]

I am not sure what you mean by smaller scale. Quantity or physical size? The CANipede is almost all of what you requested. The only thing missing is the on board relays. That is in the works as well. However there are some legality issues with FIRST when it comes to output devices. As it stands now the CANipede is not legal for FIRST use when used to generate PWM signals our to control relays. A smaller version of the CANipede that has only inputs (Analog, Digital) is planned. It will most likely be bus powered making wiring simpler and clean.