The system contains four main building blocks. I'll describe them next. I tried to be general in the terms, so I could decide on the details later, keeping the architecture relevant whatever I will decide to change later.

1 - The Main Controller

It consists of a Controller module and a CAN Module. The Controller uses GPIO to interact with the Cat Interaction Mechanism and the CAN module.

2 - Physical Transportation System

Also has a brain, interaction via CANbus with the main controller. Uses some physical transportation mechanism (wheels, legs, etc.) via an Interface module (e.g. a motor controller)

3 - Cat Interaction Mechanism

It is a mechanical device connected to the main controller. The interface module takes a logical commands (e.g. via GPIO configuration) and translates it to the mechanical movement

4 - Power System

A simple system of a power source and two lines:

• High-current - supplies the mechanical devices
• Low-current - supplies the logical devices