Endpoints are designed to be very simple: they receive minimum viable commands and keep minimal state required for operation. This way, system complexity can be organized in the particular application, not distributed throughout the system. For example, steppers receive very simple trapezoid motion segements to execute, and don't do much math except for counting steps.
To make individual motors and sensors modular, AutomataKit endpoints use a port-forwarding, source-routed network. This is *not a bus* and can be connected in a complete graph. All connections are full-duplex and include support for hardware clock synchronization.
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@@ -36,16 +49,6 @@ Bytes between the Length Byte and the *Packet Header End Delimiter* define the r
Endpoints are designed to be very simple: they receive minimum viable commands and keep minimal state required for operation. This way, system complexity can be organized in the particular application, not distributed throughout the system. For example, steppers receive very simple trapezoid motion segements to execute, and don't do much math except for counting steps.
So far, the endpoints all have xmega microcontrollers at their heart. In particular, the ```XMEGA256A3U``` : the biggest, baddest xmega. We clock it at 48MHz. That said, this isn't a requirement - any microcontroller with a UART port can play.
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@@ -114,6 +117,7 @@ Along with this note, there's more detailed explanation in the link above.
# Development Notes
- find a new buck converter, and add tvs diode to N23 boards
- make this as a circuit block, and find also a nice big ceramic 6v capacitor for ~ 100uF or something
- the push now is to find backpressure in the network, and go for a four wire
- also / in that case, a router board with dma access (x usb on each chip) and maybe a rethink of the headboard / daughter lookout ... face-to-face so that single sided PNP is possible (usb on same side ... nice to port-in wherever) ... port on the 'other side' then ? or also on same side and SMD ?
