You might be thinking of USB isochronous transfer mode.
This is how we send audio and video.   It allows the sending of
periodic packets at a constant rate.

I don't know how well it would work for machine control.   It was designed
for constant rate not low latency but it might have good latency too.

> Though: There is some evidence that there was a realtime USB effort, I
> found the source code on the RTAI repository (but can't immediately
> find it now).

-- 

Chris Albertson
Redondo Beach, California

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