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README.md

EV3

Robot demonstrator for WebRTC datachannels.

Goals

  • Get RAWRTC to compile and run on Lego Mindstorms EV3 Controller.
  • Control Lego Mindstorms Robot through a WebApp using WebRTC.
  • Show off how cool that is by building a neat demonstrator.

Relevant Files and Folders

  • robot/: Files needed for building the robot components of this project. See robot/README.md.
  • website/: Files needed for the web components of this project. See website/README.md.
  • container/: Docker container containing cross-compilaton environment.

Links

RAWRTC

Protocol

Process

  1. Set up WebRTC connection
  2. Create three data channels named api, sensors and ping
  3. After the api channel has been opened the robot sends a message containing a JSON-array of JSON-objects consisting of "port" – the number or letter of the port – and "type" - the type of sensor or motor that is attached. E.g. {"port": "A", "type": "tacho-motor-l", //or "tacho-motor-m"}.
  4. The website sends messages on the api channel containing JSON-strings addressing a sensor or motor by its port. Depending on the message, the robot will answer. See below for details.
  5. If the WebRTC connection ends, the software on the robot restarts (see section Ping).

Messages

Messages from the website addressing motors, sensors or metadevices (see below), are sent on the api data channel. The response to requests for data will be returned on the data channel as well.

Motors

{
  "port": "A", 
  "mode": "run-to-rel-position",
  "value": "180"
}
command value meaning answer
stop % Stops the motor. %
run-forever INT32_MIN – INT32_MAX Run until a different command is sent. Value is rotation per minute in degrees. The maximum obtainable speed depends on the motor and battery voltage. %
run-to-rel-position INT32_MIN – INT32_MAX Run specified number of steps. Steps per degree/rotation depend on the motor. Positive values turn clockwise and vice versa. %
set-position INT32_MIN – INT32_MAX Define the current position as number of steps. %
set-stop-action hold OR coast[^1] Define what the motor does after receivin a stop command. %
get-state % Get current state of the motor. running OR ramping OR holding OR overloaded OR stalled[^2]

Sensors

Messages to sensors can either set the mode of a sensor by including the mode and port attributes or - by only including the port attribute - solicit the value(s) of the sensor. If the value has been requested, the robot will answer with a JSON-Object containing the port and an array of one or two values.

Mode:

{
"port": "A",
"mode": "US-DIST-CM"
}

Value request:

{
"port": "A"
}

Value answer:

{
"port": "A",
"values": [1000.0]
}
type mode meaning values
lego-ev3-us US-DIST-CM continous distance measurement 0 – 2550 (mm)
lego-ev3-us US-SI-CM single distance measurement 0 – 2550 (mm)
lego-ev3-touch % button pressed or released 0 OR 1
lego-ev3-gyro GYRO-ANG angle the sensor has turned since initializasation -32768 – 32767 (°)
lego-ev3-gyro GYRO-RATE rate of turning -440 – 440 (°/s)
lego-ev3-gyro GYRO-G&A angle and rate of turning [-32768 – 32767 (°), -440 – 440 (°/s)]
lego-ev3-color COL-REFLECT intensity of reflected light 0-100 (%)
lego-ev3-color COL-AMBIENT intensity of ambient light 0-100 (%)
lego-ev3-color COL-COLOR detected color 0-7[^3]

Meta-Devices

Meta-Devices are devices either made up of more than one sensor or motor, or adding some extra functionality to a single sensor (usually automated polling). The resulting data does not need to be requested but is sent automatically on a separate data channel called sensors.

All existing meta-devices are described in the first message sent on the api channel from the robot to the website, just like the all physical devices. Their (physically non-existent) ports are designated lower-case letters starting at "a". For the possible types, see the table below.

Message to a meta device have to be sent on the api channel as well and have to conform to the same structure as those for other sensors:

{
"port": "a",
"mode": "start",
"value": 100
}

Possible values for mode are "start" for starting and "stop" for stopping a meta-device. Some meta-devices need a parameter given with the "value" attribute (see table below). No confirmation is returned. For the functionality of each device, see the table below. While a device is running (meaning after a start and before a stop message) it will send data on the sensors channel. The format of the returned data is the same as for the normal sensors.

type function parameter return value(s)
meta-collision Collision sensor. Sends data only when value of touch sensor at the front of the robot changes. % 0=no collision, 1=collision
meta-sonar The ultrasound distance sensor, mounted on a base that swivels 180 degrees in steps, measuring the distance after every step. % [-90 – 90(°), 0 – 2550(mm)]
meta-compass Angle the sensor has turned around its horizontal axis since initialization. 0-2^32 , milliseconds to wait between polling the sensor -32768 – 32767 (°)

Ping

A third data channel called ping is used to monitor the connection. The website is expected to send messages – with arbitrary content – at one second intervals. If the robot does not receive a message on the ping channel for five seconds, the software restarts.

[^1]: hold = motor attempts to hold position; coast = motor is free to be turned [^2]: running = motor is running; ramping = motor is accelerating or decelerating; holding = motor is trying to hold position; overloaded = motor can not reach specified speed due to lack of power; stalled = motor has stalled because of insufficient torque

Configuration File

The configuration files robot/wrtcr_conf.json and website/src/wrtcr_conf.js contain the following options:

name type meaning
sig_serv object Object describing how to connect to the signaling server.
sig_serv.host strings IPv4/IPv6-address or hostname of the signaling server.
sig_serv.port integer Port to send signaling messages to.
sig_serv.room integer Room in which the communication will occur.
sig_serv.port_website integer Port under which the signaling server will serve it's website.
stun_servs Array of Strings STUN servers to use for generating ICE candidates. Will be passed to WebRTC. Format stun:<hostname>:<port>.
turn_servs Array of Strings TURN servers to use for generating ICE candidates. Will be passed to WebRTC. Format turn:<hostname>:<port>.

[^3]: 0 = none; 1 = black; 2 = blue, 3 = green, 4 = yellow, 5 = red, 6 = white, 7 = brown

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