This is the final version of my control node. Essentially it’s a custom Ardunio that sits on a 802.15.4 Xbee network. It can control servos, motor controllers and digital outputs. It can also read analog inputs and a serial stream from RFID readers, GPS modules, etc and place that data on the network. The network is a peer to peer configuration with a 300ft radio range. FCC approved out of the box. Any node can talk to any other node and it’s fast. I am getting ~7ms packet times for 16 byte payloads.