Remote Control
A server will start automatically when the BeagleBone Back boots. It will listen on a well-known port using ZMQ for JSON or YAML commands. Remote clients will connect to the server and access the functionally of the bot via the API it exposes.
- Solve course autonomouslly
- Follow line
- Move at a given speed in a given direction (angle 0-360).
- Rotate at a given speed (-100 to 100, positive is clockwise).
- Any rote behaviors we define (jerk, oscillate...).
- Aim the turret at a given X and Y angle.
- Set the firing wheel speed, 0-100.
- Advance a dart into the spinning wheels
- Execute full fire behavior (localize, aim turret, accelerate wheels and advance dart).
- Which block are we over?
- Provide stream of IR sensor information for a given array or the full IRHub.
- Provide stream of ultrasonic sensor information for a given sensor or all sensors.
- Allow for translational movement.
- Allow for rotational movement.
- Allow for dart firing.
- Easily connect to and control the robot.
- Allow for subscriptions to log output by logging level.
- Allow multiple controller apps to connect to the robot at the same time. The robot should execute commands from any controller in order of time received. This would allow for seamless sharing of control between drivers, with the humans implementing the concurrency protocol. Multiple users would also be able to subscribe to log output, while one driver controls the robot.
- Support other status updates, in addition to log output. For example, provide translational speed/direction, rotational speed/direction, darts-remaining count, IR feedback, ultrasonic feedback and camera monitoring.
- Support iOS and Android.
