Page 235 - Build Your Own Quadcopter_ Power Up Your Designs with the Parallax Elev-8

214 Bu il d Y o ur O w n Q u a d c o p t e r

assembly is shown in Figure 8.23. Only two connections are needed between the BOE and
the XBee module, as shown in Table 8.8. The BOE is powered through the mini USB cable
that attaches to the laptop running the PSerT program, while the XBee module is powered
through the BOE sockets.
The receive program is named Test XBee Receive.spin, and the source code is shown
below:

OBJ
system : “Propeller Board of Education” ‘ PropBOE
configuration tools
pst : “Parallax Serial Terminal Plus” ‘ Terminal
communication tools
time : “Timing” ‘ Timing convenience
methods
xb : “XBee_Object_1” ‘ XBee communication
methods

PUB Go | c
system.Clock(80_000_000) ‘ System clock -> 80 MHz
pst.Start(115_200) ‘ Start Parallax Serial
Terminal
xb.start(7,6,0,9600) ‘ Propeller Comms -
Baud
xb.AT_Init ‘ Initialize for fast AT

Figure 8.23 XBee and Propeller BOE receiver node.