Zibee Communication (E128-POD to C32-ROAMER)
Zigbee communication
One of the primary goals in this project was each POD and ROAMER to be interoperable with one another. To accomplish this goal, the class designated a communications committee that consisted of one member from each group. The communications committee developed a standard to communicate between an XBee on the POD and an XBee on the ROAMER.
Each packet of data, along with project specific data, also included bytes of extra identifier information for the Zigbee communication standard. This allows the Zigbee to determine the target recipient , return any errors, determine the purpose of the message, and more. For our project, our primary concern was using the API Identifier 0x81, which is a message containing data for Xbee-Xbee communication. The specifics of this data can be seen in the Communications Committee documentation.
POD to ROAMER basics:
Connecting message – Broadcasted target, contains roamer number in data bytes.
Disconnecting message – Specific target to connected ROAMER
Data message – Specific target to connected ROAMER, containing data for SPECIAL LEDs, camera orientation, motor commands, and gripper commands.
ROAMER to POD basics:
Responses to confirm connecting/disconnecting message – Specific target to POD, contains a byte to confirm a connect or disconnect.
Data response message – Specific target to POD, contains data for SPECIAL battery %, SPECIAL charging/discharging status, LED states, and last camera command.
One of the primary goals in this project was each POD and ROAMER to be interoperable with one another. To accomplish this goal, the class designated a communications committee that consisted of one member from each group. The communications committee developed a standard to communicate between an XBee on the POD and an XBee on the ROAMER.
Each packet of data, along with project specific data, also included bytes of extra identifier information for the Zigbee communication standard. This allows the Zigbee to determine the target recipient , return any errors, determine the purpose of the message, and more. For our project, our primary concern was using the API Identifier 0x81, which is a message containing data for Xbee-Xbee communication. The specifics of this data can be seen in the Communications Committee documentation.
POD to ROAMER basics:
Connecting message – Broadcasted target, contains roamer number in data bytes.
Disconnecting message – Specific target to connected ROAMER
Data message – Specific target to connected ROAMER, containing data for SPECIAL LEDs, camera orientation, motor commands, and gripper commands.
ROAMER to POD basics:
Responses to confirm connecting/disconnecting message – Specific target to POD, contains a byte to confirm a connect or disconnect.
Data response message – Specific target to POD, contains data for SPECIAL battery %, SPECIAL charging/discharging status, LED states, and last camera command.