The CANipede RCM(Robotic Control Module) is the newest addition to our modular control system. The CANipede provides inputs and outputs that can be used to control motors, relays, etc... and to obtain sensor feedback. The CANipede RCM features 8 pwm channels, 8 analog inputs, 4 digital in/out, 8 solenoid channels that provide up to 100mA per channel of direct solenoid control (great for pneumatics), 4 quadrature encoder channels, 4 relay outputs and two CAN(controller area network) connectors(single channel) for easy bus connection. Combined with the 2CAN, the CANipede provides direct closed loop control of motors, pneumatics and various other mechanisms. If the 2CAN is the backbone of our modular control system then the CANipede is the nervous system. Whether you are using Java, C#, C/C++ or the programming language of your choice, the open source libraries and C# demo make developement fast and easy. Simply wire up your controls, add a 2CAN and a CANipede RCM, download the C# app, assign your inputs(joysticks/gamepads) and outputs(RCM channels) via the dropdowns and your system will be operational in no time. The open source C# app provides basic motor and closed loop control with sensor feedback. If you need more control simply modify the C# app to meet your target specific needs or write your own using the language of your choice. The CANipede RCM will be available this fall.