I am trying to develop a robotic system that has a distributed DAQ system with one main computer that has the high level control loop. I have a question about the data that has to be transmitted every second to the processing computer. I did a 'quick' calculation about the how much data we want to sent to the main computer and then an estimation about how fast we can send it through the can bus. The baudrate of the CAN bus is: 1Mb/s (bit) The amount of bits we have to transfer is: IMU: 4 (mag,accel, gyro,euler) * 4 (x,y,z, time) * 16 bit (resolution) = 256 bits Analog: 5 * 12 bit (resolution) = 60 bits Encoders: 3 * 17 bit (resolution) = 51 bits With a total of 367 bits. This means with the CAN bus, we have a 1.000.000/ 367 = +- 3k Hz sample frequency on the main computer
Could you guys check if this is a correct way to acquire a ballpark figure for the updaterate.