You can put quite a few servos on each PDP output.
I think $200 retail is an unrealistic target, and a $200 team price is still pretty tight. By the time you account for all the different ways we have to control things and communicate (PWM, CAN, relay, DIO, USB, SPI, I2C, RS-232) and the speed to track encoders on motor shafts and the power to process video, you’re beyond a $200 price point. Except for RS-232, I’ve noticed robots using each of these, so I wouldn’t want to see very many discontinued.
A high priority should be keeping as much of the existing control hardware as possible (motor controllers, and likely the PCM) to reduce the cost of replacing hardware simply because it is no longer allowed.
As far as moving **forward **with the control system, the biggest item to improve has to be making the control and basic telemetry [dashboard level] radio more robust, while maintaining the ability to stream some live video at a decent frame rate, especially if the GDC keeps designing games with short lines of sight.
Improving processing power for video and such would be next.
At a lower priority, moving robot comms away from wifi frequencies would also greatly simplify teams’ internal communications for scouting and such, because we wouldn’t have to outlaw hotspots.