Page 128 - Toucpad robotics C11

Uses in Robotics
Automotive Robotics (Self-Driving Cars): The de-facto standard for communication between various Electronic
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Control Units in vehicles (e.g., engine control, brake systems, steering, Advanced Driver Assistance Systems like
parking assist, and communication with sensor arrays).
Industrial Robotics: Coordinating movements between multiple axes of large robotic arms, communication between
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robot controllers and external machinery, and implementing safety systems.
Mobile Robots and Autonomous Ground Vehicles: Communicating between navigation systems, motor controllers,
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battery management systems, and sensor arrays in complex mobile platforms.
Heavy Equipment: Used in agricultural machinery, construction vehicles, and material handling equipment.
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Speed and Performance

Medium to High Speed: Data rates typically range from 10 kilobits per second (kbps) up to 1 Megabit per second
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(Mbps) for classical CAN. More modern versions like CAN Flexible Data-Rate (CAN-FD) can go up to 5-8 Mbps or
even higher.

Deterministic: Due to its arbitration mechanism, high-priority messages are guaranteed to be transmitted within a
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predictable timeframe, which is crucial for real-time control and safety-critical applications.
Error Detection and Reliability
Excellent Error Detection: Built-in mechanisms include Cyclic Redundancy Check (CRC), acknowledgement, bit
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stuffing, and monitoring. This ensures extremely high data integrity.
Fault Confinement: If a node detects too many errors, it can enter a “bus-off” state, disconnecting itself from the
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network to prevent further disruption, making the network highly reliable.

Robustness: Designed for high reliability in electrically noisy and harsh environments.
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VIDEO SESSION 21 st Centu-
ry Skills #Digital Literacy
Scan the QR code or visit the following link to watch the video: PROTOCOLS: UART - I2C - SPI - Serial
communication

https://www.youtube.com/watch?v=IyGwvGzrqp8
After watching the video, answer the following questions:
1. Compare I2C and SPI communication protocols in terms of speed, wiring, and device connectivity.

2. Why is UART (Universal Asynchronous Receiver Transmitter) commonly used in microcontrollers like Arduino?

Comparison and Key Characteristics

Feature UART I2C SPI CAN
Synchronous
Asynchronous (uses Synchronous (uses SCL Synchronous (uses
Synchronisation (common clock, but
baud rate) clock line) SCK clock line)
message-based)
4+ (MOSI, MISO, SCK, 2 (CAN-H, CAN-L,
Number of Wires 2 (TX, RX) 2 (SDA, SCL)
SS for each slave) differential pair)

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Touchpad Robotics - XI