Example code

/*
 * --------------------------------------
 * Arduino with a 12V MagLock - XBee for comms. 0013A200 418D8E11
 * Also has a VL6180x/GY6180 Range sensor.
 * --------------------------------------
 *
 * PINOUT
 *
 * Maglock > MOSFET > Arduino
 * TODO
 *
 * XBEE > Arduino
 * 10 Gnd > Gnd
 * 1 VCC > 3.3V
 * 2 DOUT > 2
 * 3 DIN > 4
 *
 * VL6180x/GY6180 Range
 * VIN > 5V
 * GND > GNd
 * SCL > A5
 * SDA > A4
 * 0 > D5
 * TODO
 */

#include <Wire.h>

#include <XBee.h>
#include <SoftwareSerial.h>

#include <Printers.h>

//XBEE & COMMUNICATIONS
SoftwareSerial xbeeSerial(A0, A1); // RX, TX

//Works with Series1 and 2
XBeeWithCallbacks xbee;

// Build a reuseable message packet to send to the Co-Ordinator
XBeeAddress64 coordinatorAddr = XBeeAddress64(0x00000000, 0x00000000);

uint8_t distanceMessagePayload[1] = {0};
ZBTxRequest distanceMessage = ZBTxRequest(coordinatorAddr, distanceMessagePayload,
sizeof(distanceMessagePayload));


void setup() {
  Serial.begin(9600);   // Initialize serial communications with the PC

  Wire.begin();

  // XBEE
  xbeeSerial.begin(9600);
  xbee.setSerial(xbeeSerial);

  // Make sure that any errors are logged to Serial. The address of
  // Serial is first cast to Print*, since that's what the callback
  // expects, and then to uintptr_t to fit it inside the data parameter.
  xbee.onPacketError(printErrorCb, (uintptr_t)(Print*)&Serial);
  xbee.onTxStatusResponse(printErrorCb, (uintptr_t)(Print*)&Serial);
  xbee.onZBTxStatusResponse(printErrorCb, (uintptr_t)(Print*)&Serial);

  // These are called when an actual packet received
  //xbee.onZBRxResponse(zbReceive, (uintptr_t)(Print*)&Serial);

  // Print any unhandled response with proper formatting
  xbee.onOtherResponse(printResponseCb, (uintptr_t)(Print*)&Serial);

  // Enable this to print the raw bytes for _all_ responses before they
  // are handled
  xbee.onResponse(printRawResponseCb, (uintptr_t)(Print*)&Serial);

  Serial.println("SETUP");
}


void loop() {

  // Continuously let xbee read packets and call callbacks.
  xbee.loop();


  SendTestPacket('a');
  delay(500);
}



void SendTestPacket( char msg)
{
  distanceMessagePayload[0] = msg;
  distanceMessage.setFrameId(xbee.getNextFrameId());

  Serial.println("SENDING...");

  // Send the command and wait up to N ms for a response.  xbee loop continues during this time.
  uint8_t status = xbee.sendAndWait(distanceMessage, 3000);
  if (status == 0)
  {
    Serial.println(F("SEND ACKNOWLEDGED"));
  }
  else
  { //Complain, but do not reset timeElapsed - so that a new packet comes in and
    //tried again immedietly.
    Serial.print(F("SEND FAILED: "));
    printHex(status, 2);
    Serial.println();

  }
}


// UTIL FUNCTIONS
void printHex(int num, int precision) {
     char tmp[16];
     char format[128];

     sprintf(format, "0x%%.%dX", precision);

     sprintf(tmp, format, num);
     Serial.print(tmp);
}