Demonstrator system for Erlang/ALE
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EBuggy is a little robotic buggy made using Raspberry Pi and controlled by Erlang software, utilising the embedded framework Erlang/ALE, a library for interfacing Erlang with the hardware peripherals on embedded platforms.


EBuggy is a pool playing robot. It aims to hit the pool balls and put them into the relevant pockets. Each pocket is modeled as a single goal, scheduled using the Goal-Manager framework EN.I.GM.A.

Hardware BOM (Bill of Materials)

  • RaspberryPi rev.2
  • Adafruit 16-Channel 12-bit PWM/Servo Driver (
  • Microchip MCP3002 Analog to Digital Converter
  • Sharp 2Y0A21 IR Distance Sensor
  • 2 x GWServo S03N STD continuous servo
  • Small generic servo
  • Wi-Fi USB Adapter



The communication pattern used inside ebuggy is as follows.

The motor process accepts commands (forward, backward, rotate).

The sharp process is responsible for detecting obstacles in front of the buggy. All processes that are interested in knowing when there is an obstacle in front of the buggy calls the sharp:alarm_obstacle/0 function. When an obstacle is detected all processes will be sent the message obstacle_present. The "subscription" is a one-off, so processes have to call sharp:alarm_obstacle/0 again if they still wants to be alerted. A process can delete its subscription calling sharp:ignore_obstacle().


Below a UML Component Diagram.

Getting started

Log in into RaspberryPi and fetch this software using git:

git clone

Fetch the dependencies and build it:

cd ebuggy && make


Use make start to start the robot.


EBuggy is licensed under the Apache License, Version 2.0 (the "License"); You may not use this library except in compliance with the License. You may obtain a copy of the License at

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.