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Interfaces information

Totem Library is designed to support multiple ways to connect TotemBUS network. Each one has different capabilities and may be build for multiple development platforms. The main goal - passthrough for Totem messages.
Each required interface should be initialized at setup() function. Once begin() function is called, all TotemModule objects are assigned to initialized interface and can communicate with Totem modules.

BLE

Totem.BLE.begin()
Provides wireless communication with Totem modules. This interface can be used whit any BLE capable ESP32 development board to control Totem modules, even from multiple connections. Interface provides all required functionality to discover Totem robots and connect them.
Modules are able to represent themselves as "robot", providing name, color, model (type of robot). This information is available before BLE connection is established. Same information is visible when connecting with mobile Totem app.
For full interface documentation read BLE Interface.

// Include Totem Library
#include <Totem.h>
// Declare communication with any connected Totem module
TotemModule module(0);
// Arduino initialization function
void setup() {
  Serial.begin(115200);
  Totem.BLE.begin(); // Start Bluetooth Low Energy interface
  Serial.println("Searching for Totem robot...");
  // Wait until connected to first found Totem robot
  TotemRobot robot = Totem.BLE.findRobot();
  // At this point further execution of setup() is blocked
  // until library connects to the robot
  Serial.print("Connected to: ");
  Serial.println(robot.getName());
  // Continue to loop()
}
// Arduino infinite loop function
void loop() {
  // Control motor of connected robot
  module.write("motorA", 100); // Set motor A channel to 100% power
  delay(1000); // Wait 1 second
  module.write("motorA", 0); // Stop motor on A channel
  delay(1000); // Wait 1 second
}

X4

Totem.X4.begin()
Used only with Totem RoboBoard X4 to enable all functionality and on-board features:

  • Implements all RoboBoard X4 functionality.
  • Makes RoboBoard X4 discoverable over Bluetooth.
  • Provides direct access to TotemModule functions (Totem.X4.write("indicate")).
  • Enables passthrough to communicate with external modules connected over TotemBUS.

Can be used concurrently with Totem.BLE.begin().
For full interface documentation read X4 Interface.

// Include Totem Library
#include <Totem.h>
// Arduino initialization function
void setup() {
  Totem.X4.begin(); // Start X4 interface
  // Continue to loop()
}
// Arduino infinite loop function
void loop() {
  // Blink RGB leds
  Totem.X4.write("rgbAll", 255, 255, 0, 0); // Set RGB leds to RED
  delay(500); // Wait 500 milliseconds
  Totem.X4.write("rgbAll", 255, 0, 255, 0); // Set RGB leds to GREEN
  delay(500); // Wait 500 milliseconds
  Totem.X4.write("rgbAll", 255, 0, 0, 255); // Set RGB leds to BLUE
  delay(500); // Wait 500 milliseconds
}