There is an Arduino with Ethernet shield on the bot, connected to an Asus Wireless Router. It reads the MA3 encoders as analog inputs and handles PWM signals to the 4 Jaguars.
We plan to do some testing with CAN soon so we can access the closed loop feedback of each Jag. We may get on the bus using serial from the Arduino, or via ethernet with a 2CAN.
The operator side has an Arduino with Ethernet shield connected to a cheapo wireless bridge. We have interfaced a PS2 controller directly to the Arduino. The Arduino conveniently spits out 3.3v for the PS2 controller. We have mapped a few buttons and the analog sticks.
We have a fairly simple comms protocol running that is more or less completely open-source using wifi libraries available online.
This setup does not need an operator interface, as the commands can be sent via wifi directly from a netbook, but the customer wanted a stand-alone solution for this version.
All said the control system is pretty slick and relatively cheap. All the components combined are about $300.
The new Vex system was an attractive option, as was the RCS from Cross The Road, but we liked the simplicity of the Arduino as well as the completely open nature of the wifi connection.
The only issue is that the arduino components are not well-suited for a mobile robot…we have had robustness issues. We are working on a more substantial case for the electronics now.
Do you have multi-speed transmissions now too? It’s hard to tell whats going on inside that frame member where the transmission is buried.
There is a single speed reduction inside the tube, 12t pinion on CIM to a 40t AM gear.