i was wondering if there is any possibility to create an SPI connection to another microcontroller (e.g. Raspberry Pi) with a Zumo 32u4, as I want to recreate some robotic projects from uni, where we basically read out all the sensors from an arduino platform, send the data to a Pi (with a level shifter in between) and have our control system on there and then send the calculated values back.
I intend to connect the two platforms as it is shown in this forum post with some additional fixation:
Mount Raspberry Pi on Zumo 32U4
As i always used SPI connection in uni because of its speed compared to serial and I2C, is it possible to utilize PB1 and PB2 without interferring with the motor direction control?
Or alternatively is it equally fast if i use UART (or a combination of UART and I2C, assuming that i can directly use the I2C line on the Pi with this) if i want to update the motor directions and speeds every 20 to 50ms and basically send all the sensor data?