New Computational System Successfully tested

In a breadboard environment we evaluated the idea of directly reading the sensor information via the cRIO system. This would eliminate the need for additional servo boards at each leg and frees the CAN-Bus from some of its load. We also would have additional 16 analog channels available, which can for example be used to monitor the motor temperatures. Digital filters were implemented in the FPGA and the control code was ported to NI LabView were it runs in real-time at with a higher frequency.
So far the move seems to be a great success. And with the new singleboardRIO, it will become feasible to have the computation on board without adding a lot of additional weight.