Hello again,

The project si robotic and automation controller.

The main idea of the project is in developing a universal protocol and language. And as part of developing I must construct a working device for specifik situation (two handed robot (with 12 DC motors + quad encoders + brakes + some other sensors) + conveyor(motor+ sensors) + sum other machines in the work space of the robot)

The main idea is that the controller is created from separated sections. Every section is highly specifik.

For example 1 section(one slave nod) can control X DC motor read the encoder and control the brakes[in the nod are all the algorithms, filters, close loops, everything necessary]. By that way we comunicate whit the node with slower data flow, and this sort of organization perfectly fit in the abstractions of the language.
For that reason i say i need 10 slave devices (5 for controlling the robot one for the robot extra sensors one for the conveyor,2 more for 2 other devices and one more for power monitoring)
It is nice to have some space for expanding, thats way I say 32 is good maximum(15/20 is acceptable).

The main processor(master) will have USB to serial connection (FTDI chip)[or wireless if part of mobil system], big lookup table for fast reactions between slaves, and will be responsible for command verification. It also have some important functions in the realization of the langage abstractions, and transfer minimalism.

On the other side of the usb stays one computer. Here are calculated all trajectorys, events reactions and decisions.

The robot is already designed and constructed.(Some parts are still in the workshop)
The language is created and is in final beta testing in the simulated environment.
The protocol is almost ready (left some space for final changes)

I say what are the current objects ti control, but the main idea is in multifunctionality(changing the slave nodes and whit very little code writing to be ready to control something else).

And now is the time for creating the hardware. I have some experience in writing C and assembler(mostly) code for for 8051 processor, so I choose this processor to be the hard of the nodes. And i need more power for the master processor so i look in the AVR chip lists.

The reason that i chose Atmel is that atmel's processors are available in my country. Other brand are hardly to find (If hardly necessary will seek how to supply).

I have good basics to figure out the other parts of the device(sensor reading, motor control, etc) ... but the bus betleen the master and the slaves eat my brain. Thi is my first time I come in situation where I must connect so many devices on one bus.


Any suggestions are welcome. Any sorse for reading and educating are also welcome.