This project consists of the development of an electronic system to manipulate a snake like robot in a modular way.The electronic cards were implemented in a master-slave relationship for joint control of each mechanical module.These cards are composed of a DSPic30F4011, microchip 16-bit microcontroller that incorporates the CAN module, essential protocol for communication between cards, PWM outputs for motor control, analogue and digital ports; as well as a socket to connect to an external device through the UART.The firmware has been written in MikroC Pro.Each microcontroller implements the characteristic equation from the Hirose curves to generate a serpentine movement.These moves were simulated using ROS (Robotic Operating System in Rviz).