A robotic system is proposed whereby the system comprises drivers which integrate the power switches and communications electronics for communicating over power lines or wirelessly or over another shared communications channel. In a robotic system comprising such drivers, one or more central controllers communicate with at least one actuator driver across a communications channel, wherein the communications channel is subject to interference caused by an actuator, and wherein at least one of the communication and the operation of the actuators is modified in anticipation of interference occurring such that reliable communication can be assured.