One problem that this project faces is a dynamic assignment of nodes. However, there is no way to tell over the CAN bus which node is closer to the computer and how they are connected serially.

One way would  be to do this in software where each board is set by the user, or using a jumper to select the node number. However, this detracts from the modular nature of the project.

So I decided to add one more wire between boards to help tell how the boards are connected serially. A config protocol is written in the program so that each board will be able to tell the next how far they are from the controlling board.