Module scanner
Description
API to scan for TotemBUS modules. Can be used to get list of connected TotemBUS modules and their information (number and serial).
Code examples
Arduino projects: RoboBoardX4/TotemBUS
Function usage (click to expand)
// Function called when ping response from module is received
void moduleDiscovered() {
int number = X4.module.getLastNumber();
int serial = X4.module.getLastSerial();
}
void setup() {
// Register module ping response event function
X4.module.addEvent(moduleDiscovered);
}
void loop() {
X4.module.ping(); // Ping all modules
delay(1000);
X4.module.ping(11); // Ping only distance module [11]
delay(1000);
X4.module.ping(11, 12654); // Ping only distance module [11] with serial 12654
delay(1000);
}
Functions
Discover modules
X4.module.ping(number
, serial
)
- Request modules to send a response. All connected modules will be listed in function registered with
addEvent()
.
Available request types:
• all modules
• modules matching specified number
• module matching specified number and serial
Alternatives:
ping(number)
- request only by module number
ping()
- request all modules
Parameter:
number
- module number [0
:255
].0
- all modules
serial
- module serial [0
:32767
].0
- ignore serial
X4.module.addEvent(function
)
- Register module discovery event function. It will be called on each module ping response. Functions
getLastNumber()
andgetLastSerial()
can be used inside registered function to get module information.
Parameter:
function
- function name [moduleCallback
]
(number
) X4.module.getLastNumber()
- Get last received module number (from ping response).
(serial
) X4.module.getLastSerial()
- Get last received module serial (from ping response).