XZRem (c) 2011-2012 Stefan Wendler sw@kaltpost.de http://gpio.kaltpost.de/ Simple JavaApp to control Digital Outputs of Remote XBee ======================================================== Introduction ------------ This is a very simple application listening for some defined keys to be pressed, then sending a remote AT command to a defined XBee remote device to operate it's digital IOs acrdingly. Since the application primerily was used to controll a blimp, 3 motors are driven through various keys (see Usage section). The application as provided may not be of much use for other purposes, but could help as a simple example showing how to control the digital outputs of a remote XBee through Java. The main work ist done by the excellent XBeeAPI from Andrew Rapp. Requirements ----------------- * A JDK (Version 5 or 6 should be good enough) * Two XBee Pro Series 2 (Series 1 may work too) * gnuoi/rxtx with native library installed for your OS * XBee API installed on your system * log4j (needed by XBee AP) installed on your system On Ubuntu, you easily could aquire gnuio and log4j by apt-getting the following: sudo apt-get install liblog4j1.2-java librxtx-java You then will find the JARs in "/usr/share/java", and the native lib of rxtx in "/usr/lib/jni". For the XBee API, got to Andrews page, download the latest version (at time of writing 0.9), extract it, and copie the included "xbee-api-0.9.jar" e.g. to "/usr/share/java" Hardware ----------------- I use two XBee Pro series 2 devices with the program. Series 1 should work too. Both XBees must be configured in API mode 2 (for details see homepage of XBee API). One XBee must be flashed with coordinator firmware, the other one with router/endpoint firmware. Make also sure, they operate on the same PAN ID. On the router/endpoint, I connected the ouputs of the XBee to the inputs of two quadrupel halfbridges (TI SN7445???) to controll DC motors. Thus, two pairs of outputs are yoused for each motor: D0/D1 - m3 up/down D2/D3 - m1 forward/backward D4/D5 - m2 left/right Compilation ------------ A ant build file is provided with the project. When using ant for building, just run the following: ant build NOTE: you may need to change the location of your gnuio/log4j/xbee-api Java librares in the build.xml. Usage ----- After compiling the sources, the application could be launched by the provided shell script "xzrem": ./xzrem /dev/ttyS1 9600 "00:13:a2:00:40:61:30:09" NOTE: you may have to tailor the library path to where your gnuio native library resides in the "xzrem" script as well as the classpath. The following parameters are taken as commandline arguments: * serial port : mandatory, port to which the coordinator is connected to * speed : mandatory, speed in bauds at which coordinator operates * address : mandatory, 64bit address of remote XBee in the form aa:bb:cc:dd:ee:ff:gg:hh * motor mode : optional, give "excel" to operate each motor eclusively In the main window, the following keys are realized: F5 : connect to coordinator (do this prior any other command) CTRL-C : exit program w/s : forward/backward a/d : left/right LFT/RGT : left/right UP/DWN : up/down SPACE : stop all motors