arduino_send.ino

#include <Shieldbot.h>
#include <Wire.h>

#define UNO32_DEVICE 4
#define SENSOR_1 1
#define SENSOR_2 2
#define SENSOR_3 3
#define SENSOR_4 4
#define SENSOR_5 5

#define MOTOR_FORWARD 127

Shieldbot sbot = Shieldbot();

void setup() {
  Serial.begin(9600); // serial for debugging (or sending to Processing)
  Wire.begin(); // join i2c bus
  
  sbot.setMaxSpeed(50);
  sbot.drive(MOTOR_FORWARD, MOTOR_FORWARD);
}

void loop() {
  // read RPR-220 sensor and broadcast values
  sendSensorPayload();
  
  // pause (may have to change this when doing motor stuff
  delay(500);
}

void sendSensorPayload() {
  
  // simple bitmask to send that will indicate state of sensors
  byte payload = B00000000;
  
  // read sensor 1
  if (sbot.readS1()) {
    payload |= (1 << SENSOR_1);
  }
  
  //read sensor 2
  if (sbot.readS2()) {
    payload |= (1 << SENSOR_2);
  }
  
  // read sensor 3
  if (sbot.readS3()) {
    payload |= (1 << SENSOR_3); 
  }
  
  // read sensor 4
  if (sbot.readS4()) {
    payload |= (1 << SENSOR_4);
  }
  
  // read sensor 5
  if (sbot.readS5()) {
    payload |= (1 << SENSOR_5);
  }
  
  Serial.println(payload); // debugging info and/or processing
  
  // send payload to UNO32, which we marked as device #4
  Wire.beginTransmission(UNO32_DEVICE);
  Wire.write(payload);
  Wire.endTransmission();
}

uno32_receive.ino

#include <Wire.h>

void setup() {
  Wire.begin(4);
  Wire.onReceive(receiveEvent);
  Serial.begin(9600); 
}

void loop() {
  delay(100); 
}

void receiveEvent(int howMany) {
  byte payload = Wire.receive();
  
  if(payload & (1<<1)) {
    Serial.println("Sensor 1");
  }
   
  if(payload & (1<<3)) {
    Serial.println("Sensor 3"); 
  }
  
  if(payload & (1<<5)) {
    Serial.println("Sensor 5"); 
  }
  
}