There are wiring limits - 16 Jaguars with a maximum of 20 ft of cabling, although I have seen communication problems increase as cabling gets to 14-15 feet.
Quote:
Originally Posted by Alan Anderson
If you're using a Jaguar as a serial-to-CAN gateway, you're probably pushing the limits of communication bandwidth with 11 devices to talk to. A 2CAN would not be as constraining.
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To put some numbers around Alan's comment, Q22 of the
Jaguar FAQ gives the practical capacity using the RS232 interface of about 930 packet/s each way.
But with a 50Hz polling frequency that means under 19 messages each way per period, shared across 11 Jaguars.
Think about how many messages you pass in a typical teleop period.
It is a difficult balancing act - we're engineers because we like to solve problems, and to take a step back and let someone else solve it, with what may be a poorer solution, is darn hard.
- DonRotolo [more] 
11-03-2013, 23:49
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