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→Sending
==Sending==
Each node can send 4 messages:
*''/br/1/range'', **integer, 0-1024. **Analog sensor reading from ultrasonic rangefinder from 0-1024. Sent every 200 ms (so 5 Hz refresh rate).*''/br/1/limit'', **integer, 0 or 1.
**State of limit switch.
**Sent when button is pressed or released. Switches are active low, so the value is 0 (LOW) when the button is pressed, 1 (HIGH) when the button is released.
**Second value is max range, 0 - 1024. This is a threshold value for the lower limit of bullroarer travel. When in auto mode, a sensor reading larger than this value will trigger the relay to turn the motor back on and raise the bullroarer.
**Third value is cycle timeout, 0 - max long int. Sets the amount of time the bullroarer waits at bottom before starting motor, the "rest time". Only works when in auto mode.
==Receiving==
They can receive 6 messages: