For our robots, we created a low-level electronic hardware ecosystem called Supreme Machines, that comprises open-source modern motor control and sensory data processing, in both hardware and software. Endpoint of this framework is the Sensorimotor board, a networked smart-servo controller. Using robust RS485 communication, robot creators can easily achieve a distributed architecture for sensor data capture and motor control loops. Sensorimotor can be used in a variety of modular robots.
Please visit our Supreme Machines repository on GitHub for details: https://github.com/suprememachines/