This is one of Wayne's many electronics projects.
The RoboBricks2 project is a follow on to the original RoboBricks1 project. RoboBricks2 takes advantage of newly available technology to provide higher speed and easier use. RoboBricks2 is based on 9-bit serial UART (Universal Aysnchronous Receive/Transmit) and CAN (Controller Area Network) bus transceivers.
The following documentation is available: