Advanced Configuration of XBees for the ArbotiX

In the basic XBee configuration guide, we set up our XBees on a fixed channel. If another XBee or other device is on the same 2.4Ghz channel, we may see reduced range or communication problems.

Below are a set of configuration options that will allow you to set up a coordinator / end device network. When the Coordinator starts up, it will do a scan to look for usable channels. Once it has chosen a channel, it will wait for end-device XBees to join its network. The End device will be setup to scan channels, looking for a coordinator.

While this does solve our channel problem, it does have a few downsides. First, the Coordinator XBee should be powered on before the End Device XBee, as the coordinator needs to set up the network first. Secondly, channel setup and scanning can take a few seconds, so the connection will not be as instantaneous as with a standard setup.

Below are all of the configuration settings to make the coordinator / end point network function. You'll notice that we have put the Coordinator XBee in the robot while the end point goes in the commander. We have done this because if you turn on/power cycle your robot, its generally easier to power cycle your controller than the other way around. If you however intended on setting up a mesh network where one controller talked to many robots, you should consider putting the Coordinator XBee in the ArbotiX Commander.

Parameter XBee # 1 (For ArbotiX Commander) XBee # 2 (For ArbotiX Robocontroller)
Pan ID 100 100
Destination Low ID DL 2 1
16 bit source address ID MY 1 2
Coordinator Enable CE Coordinator [1] End Device[0]
End Device Association A1 000b 0111b
Coordinator Association A2 110b 000b
Node Identifier Robot Commander
Data Rate 5 5