I’ve been having discussions with Randy about how to do better at synchronizing the computers to have better pattern coordination. It’s a difficult problem because there are messaging latencies in the XBee network that are not stable themselves. We came up with a couple of mechanisms to sync clocks but they all involve walking around to the members and performing either a tethered sync or a rapid fire messaging challenge. I think it’s going to be OK but we’ll need to write up the code.
One thing that I needed to do in order to help keep things in sync is to get everyone working at the same frame rate. This was easy enough to do in the Arduino code but I needed to read up on the Teensy ARM timer interrupt setups.