Recently I got the Simple FOC working with an Arduino Nano and a third party motor driver board, (pretty happy with the result!) Then I started looking into building a multi-joint robot with it, before which I need to figure out what could be a proper option for communicating between a Raspberry Pi and multiple Arduinos. Ideally it would be:
- Able to send commands from Raspberry pi to all Arduino (motors) and receive feedbacks
- Easy to wire up
- The communication not adding too much computation overhead (so hopefully not disturb the SFOC functioning on the Arduino Nano since it is not powerful)
- Relatively stable connection (10 to 20cm in terms of data transmitting length, nothing crazy)
- For frequency, anything higher than 100hz would be “usable” based on my past experiences when making robot dogs and stuff, and obviously the higher the better
I did some search online and figured that I may want to use RS485 and Modbus, and the overall structure would be something like this drawing below. I wonder how feasible this would be in terms of performances and if there is any better or easier solutions. Thanks in advance!