Last week I have been studying the various options offered to our MAESTROSEs. I dropped the idea to use sound to localize the others : we had too many doubts about the timings in the process, and we have encountered various troubles with our hardware, postponing any tests.
We had another issue: we wanted a system in order to obtain unique IDs for our modules, so that they can be addressed individually to implement some more advanced functions. I have found some interesting algorithms in order to achieve this purpose: one of them relies on a very basic communication which is feasible with our zigbees broadcasting, and such a solution could work with any new module added to the network. Nevertheless, a more pragmatic solution (which we will use) is to use the serial IDs from our micro controllers or XBee modules. They are guaranteed unique by the constructor. We wanted to avoid using them mainly because they were too long, but a hash will do the trick.
In the meantime I have been studying the baudrates we can achieve with one, and then many modules emitting, but I have had troubles with the code (that is why I am in the process of rewriting the driver from the zigbee). I am still trying to get it working (I can emit and receive packets , but I have trouble playing with the baudrate (sometimes 9600bps works, then it is 115200, then it doesn’t work anymore) and with the synchronization between two emitters (for example if one of the emitter emits packets while this other is configuring, that one crashes).