Quote Originally Posted by skatefriday View Post
As long as you still have USB back to the robot controller it's all moot. What you are really asking for is CAN between components, back to an embedded controller, and then some protocol to a driver station. And then you have a RoboRIO for FTC.
Yeah, you are right. I always don't like USB as the interconnect. It's just not designed for the robotics environment. I was just trying to figure out a way to minimize the changes to the system and still fix the issue. In order to use CAN bus, there will be another processor dealing with CAN and collect all the data. Then why not use that processor as the brain of the robot and eliminate the phone. Then that's the RoboRIO as you said. May be that would be the next generation?
Regardless, minimizing the unnecessary duplicate accesses to devices on the bus would help to alleviate the issue.