Wireless Remote Control of Low-Cost Smart Devices for No-Coders

Leopoldo Armesto

1 a

, Sara Blanc

2 b

, Antonio Gonz

alez

3 c

and Antonio Sala

3 d

Instituto de Dise

no y Fabricaci

on, Universitat Polit

ecnica de Val

encia, Spain

Instituto U. de Tecnolog

ıas de la Informaci

on y Comunicaciones, Universitat Polit

ecnica de Val

encia, Spain

Instituto U. de Autom

atica e Inform

atica Industrial, Universitat Polit

ecnica de Val

encia, Spain

Keywords:

Block Programming, Educational Robotics, Robot Programming, Internet of Things, Home Automation.

Abstract:

This paper describes the development of a block programming tool, named Facilino, to remotely control

multiple agents consisting of low-cost smart devices based on ESP32 and Arduino, such an intelligent house

and a robot, using Bluetooth and WiFi (HTTP) in the context of educational applications. Facilino is based on

Blockly, a library that has been adapted to create Arduino code from custom blocks. The new tool is combined

with App Inventor to develop Apps with no-coders. The paper describes the preliminary results using this tool

within research and development and academic activities.

1 INTRODUCTION

In the last decades, the education system is quickly

becoming outdated as a consequence of the intro-

duction of new technologies, particularly the Inter-

net of Things. We aim to contribute to a more mod-

ern school system by properly stimulating students’

imagination and creativity through the adequate tech-

nological resources. Indeed, STEM approach to ed-

ucation (Schejbal et al., 2022; Ruutmann, 2015) pro-

vides a suitable ﬁeld to increase students’ motivation,

level of participation and engagement, communica-

tion, collaboration, critical thinking and creativity.

Block programming tools have been popularized

in the recent years coping with the dilemma “Learn

to code“ vs. “Code to learn“. In the ﬁrst approach,

coding is the aim and students must learn their fun-

damentals, however this will be only of interest to a

small part of the population; while in the second ap-

proach, students code with the purpose of learning an

added value knowledge and coding becomes a tool for

a given mean.

People have different opinion about the beneﬁts

of using block programming tools (Cash, 2020; Had-

low, 2018; Guzdial, 2022), but clearly its use has

been growing in the last decade among young learn-

https://orcid.org/0000-0003-0979-4428

https://orcid.org/0000-0001-6439-2902

https://orcid.org/0000-0002-4669-8374

https://orcid.org/0000-0002-5691-8772

ers with few experience in coding, and multiple tools

have been popularized among makers, educators and

even senior people. Among them, Scratch (Maloney

et al., 2010; Ouahbi et al., 2015) and Blockly (Paster-

nak et al., 2017; Trower and Gray, 2015) have become

the more popular options.

Block programming tools have been widely used

in different applications such as programming robots

(Trower and Gray, 2015); on smart devices using

MQTT in Internet of Things applications (Adi and

Kitagawa, 2019) and industrial robots (Winterer et al.,

2020). In addition to this, block programming tools

have shown the capability to focus on the impor-

tant concepts of coding, abstracting complex routines

into a single block. They also have the advantage of

hardware abstraction, at least, when referred to the

programming of micro-controllers, since the block

can have the same aspect, but the generated code

might be adapted to the speciﬁc hardware require-

ments. Projects (Schejbal et al., 2022; Kusmin et al.,

2019) based on Arduino, Raspberry Pi, ESP8266 and

ESP32 processors allow students to participate on

STEM project aimed with different purposes, such as

robotics, light control, wearables, eco-technology, in-

cluding also the development of soft-skills as part of

the learning process. Block programming tools allow

them to program these devices via Bluetooth or WiFi

connectivity without getting stucked at details which

are not relevant in terms of a STEM project. For in-

stance, aspects such as remote data access between

two devices might require complex concepts (for a

Armesto, L., Blanc, S., González, A. and Sala, A.

Wireless Remote Control of Low-Cost Smart Devices for No-Coders.

DOI: 10.5220/0012194600003543

In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2023) - Volume 2, pages 173-180

ISBN: 978-989-758-670-5; ISSN: 2184-2809

173

young learner) such as syncronization, baudrate trans-

mission, telegram structure, data formatting, etc...

Facilino is a block programming tool based on

Blockly (Armesto, 2016). It has been widely used

by no-coder learners for programming smart devices

in the Internet of Things (Armesto, 2019) and low-

cost Arduino robots (Armesto, 2017). Recently, we

have published a new version of Facilino, which is

purely based on frontend-backend architecture devel-

oped using a variety of programming languages in-

cluding PHP, javascript and HTML.

This paper focuses on Facilino’s features such

as bluetooth and WiFi communication with low-cost

electronics in order to develop custom smart devices

integrated with custom Apps using App Inventor 2.

We have developed speciﬁc Facilino blocks for pro-

gramming ESP32 devices and also Arduino (ATMega

328p with a Bluetooth module). In particular, we

show the use of these new blocks on a low-cost robot,

known as bPED and a smart-house (developed in the

context of EcoThings project, grant 2021-1-ES01-

KA220-SCH-000034349).

This paper is organised as follows: Section 2 de-

scribes the main developments of the paper using Fa-

cilino; Section 3 describes an extension for App In-

ventor compatible with Facilino blocks; Section 4 de-

scribes the results applied to remotely control a low-

cost Arduino robot via bluetooth and a smart-house as

well as a survey conducted to Facilino users. Section

5 draws some conclusions..

2 BLOCK PROGRAMMING

WITH Facilino:

COMMUNICATION BLOCKS

We have created several blocks in Facilino aimed to

help students abstracting some complex aspects of

communication between devices. For instance, on

ESP32 processors, Facilino can generate code for

communicating (using several approaches) with ex-

ternal devices via Bluetooth or WiFi using its inte-

grated antenna, while for Arduino (ATMEGA 328p),

wireless communication must be done using a Blue-

tooth/WiFi module (i.e.: HC-06 or ESP-01) through

digital pins using a software serial library. Blocks

used on either case are practically similar, while the

code they generate is different (hardware abstraction).

In the following, we will discuss some simple ap-

proaches to complete our aim.

2.1 Classic Bluetooth

In particular, for Bluetooth communication between

two peer devices (using SPP proﬁle (Argenox, 2020)),

we propose two simple approaches

• Commands: A single byte is transmitted from

one device to another. The number of commands

is obviously limited to 256, but avoids synchro-

nization between devices (every single byte is the

actual data being transmitted). The device receiv-

ing commands will simply listen incoming data

and proceed accordingly with received command.

There must be an agreement between the trans-

mitter sending data and the receiver interpreting

commands.

• Telegram: One device can request data to an-

other device and thus the receiver can pro-

vide a response is data is requested back. In

this case, we can implement a basic tele-

gram structure where data length can be larger

than one byte length. In particular, we have

implemented the following telegram structure

STX+CMD+LEN+DATA+END, where STX is a

telegram starting code (in our case we use ’@’

symbol), ’CMD’ is the command number, ’LEN’

is the length of ’DATA’ ﬁeld and ’END’ is a tele-

gram ending code (in our case we use ’*’ sym-

bol). The length of all this ﬁelds is 1 byte, but the

’DATA’ ﬁeld that has a variable length, depending

on the command.

Following this approach, we can distinguish be-

tween two types of telegrams on transmissions be-

tween an App controlling a smart device:

1. App Requests for Sensor Readings: The

transmission is initiated by the App requesting

data with a telegram, i.e.: requesting the read of

a digital pin is implemented as @+0+1+10+*

(command ﬁeld is 0 and data length ﬁeld is 1

and data is 10, that is the pin number). Then,

the device receiving the telegram decodes it and

sends a telegram back to the App with the data,

i.e.: @+1+2+10+1+* (command ﬁeld in the re-

sponse is incremented by 1, data length is 2 and

data is contains the read pin number and the ac-

tual pin value). Then App can notify the user

on the reception of the response telegram with

an event containing received data.

2. App Requests for Actuators: The transmis-

sion is initiated by the App with a telegram con-

Of course, more complex approaches can be imple-

mented too, but keeping it simple has the advantage that can

be easily understood by pupils aged between 12-18 years

old.

ICINCO 2023 - 20th International Conference on Informatics in Control, Automation and Robotics

174

taining data to set the actuator value, i.e.: to

control a servo position we can send the tele-

gram @+16+2+3+90+*, where in this case, the

servo position command is 16, data length is 2,

and data ﬁeld contains the pin number (3 in this

example) and the target position in degrees (90º

in this case). No response telegram is needed in

this case.

2.2 REST API

In this approach, the device implements a web server

receiving HTTP requests implementing a basic REST

API (Fielding, 2000). In order to exchange data with

the device, a client sends HTTP requests to speciﬁc

REST end-points and the server returns a JSON ﬁle if

read data is requested. For instance, reading a digital

pin value can be done by sending an HTTP request to

the REST end-point “DigitalRead/pin”, where ‘pin‘ is

the pin number; the server will respond with a JSON

ﬁle containing a ‘status‘ ﬁeld, ‘pin‘ ﬁeld and ‘value‘

ﬁeld. On the other hand, setting the value for a digital

pin will imply to send an HTTP request to the REST

end-poin “DigitalWrite/pin/value“, where ‘pin‘ is the

pin number and ‘value‘ is either 1 o 0 (true or false)

and no response back is expected.

2.3 Communication Blocks in Facilino

Following the previous ideas, we have implemented

Facilino blocks to allow bluetooth and WiFi commu-

nication. Figure 1 shows the block used to receive

bluetooth commands, where the user can add up-to

256 commands and needs to set the command value.

This block instruction is usually included inside the

main loop of the code.

Figure 1: Facilino block for bluetooth communication via

commands.

On the other hand, Figure 2 shows some of the

blocks deﬁned to decode telegrams on the device.

The checkbox ﬁelds are used to enable decoding of

generic telegrams, such as digital or analog inputs or

digital or analog outputs. More complex telegrams

might require speciﬁc ﬁelds to access sensor data or

to set the actuator value, such as the ones shown in

the ﬁgure to read the temperature from a DHT sensor

or to set the position of a servo.

Figure 2: Example of bluetooth telegram decoding with Fa-

cilino. It decode telegrams to read a temperature as well as

servo telegrams.

Also, Figure 3 shows some of the blocks deﬁned

to decode HTTP requrests on the device. As it can

be seen, we have deﬁned blocks that ressembles the

bluetooth telegram blocks, but the generated code is

completely different.

Figure 3: Example of REST API decoding with Facilino.

It decode HTTP requests to read a temperature as well as

servo requests.

In our current implementation, we have managed

to implement telegrams for transmitting generic enu-

merated data such as booleans, integers, ﬂoats or

strings. Also to control 180º and 360º servos, to set

speciﬁc tones on a buzzer, to set a melody (a string

concatenating frequencies and durations) on a buzzer,

to set speciﬁc “expressions“ on a 8x8 LED matrix or

a 7-LEDs RGB strip and to read data from an ultra-

sonic sensor; and humidity and temperature from a

Wireless Remote Control of Low-Cost Smart Devices for No-Coders

175

DHT sensor. Obviously, the number of telegrams can

be extended to other sensors/actuators.

3 Facilino EXTENSION FOR APP

INVENTOR

App Inventor 2 (AI2) is a web app developed by MIT

App Inventor Team to develop Android Apps based

on a simple set of instructions using Blockly, see,

for instance to learn the fundamentals of AI2 (Wolber

et al., 2011). In order to extend AI2 capabilities, they

introduced the use of extensions (AI2, 2015), which

allows developers to create new components that can

be used within AI2. In that sense, we have created

an AI2 extension to communicate with smart devices

using Facilino (Armesto, 2015). In particular, two ex-

tensions have been developed in order to read from a

set of predeﬁned sensors or send command values to

a set of actuators with use a very similar interface (see

Figure 4 for the list of available components):

• Bluetooth extension: Based on the built-in Blue-

tooth client, it extends its functionalities imple-

menting telegram coding/decoding to communi-

cate with Facilino.

• Web extension: Based on the built-in Web client

component, it extends its functionalities imple-

menting a REST API communication with Fa-

cilino via HTTP.

(a) Bluetooth extension (b) Web extension

Figure 4: Components of Facilino AI2 extensions.

Bluetooth extension uses FacilinoBluetoothClient

component to handle bluetooth communication (con-

Figure 5: User-interface example on AI2 using Bluetooth

extension.

nection and disconnection from the server), while

the Web extension uses FacilinoWeb component to

send/receive HTTP requests. In both cases, the exten-

sions include equivalent components to send/receive

generic data (such as booleans, ints, ﬂoats or string),

to handle digital or analog signals or to exchange data

with speciﬁc devices such as a humidity and temper-

ature sensor, a sonar, a servo, RGB LED strip, etc...

All sensors implement an Request method to read

data, using a non-blocking call. On data reception, the

event Received notiﬁes the user with the sensor value.

On the other hand, actuators have procedures that al-

low to set their state, such as the Set method for a Dig-

italWrite component or the Move method for a Servo

component. An example on how to use Facilino AI2

extension using bluetooth

can be seen in Figure 5

and Figure 6, where only relevant blocks have been

included, while other blocks with replicated function-

alities have been omitted for compactness. On the

other hand, Figure 7 shows Facilino blocks used to

read from digital and analog pins and a DHT sensor

and to set LEDs values and position of a servo.

4 RESULTS

In order to validate our developments, we have tested

Facilino communication capabilities on two test-bed

educational platforms: a low-cost walking robot and

a low-cost home automation prototype.

4.1 bPED: A Low-Cost Walking Robot

bPED (see Figure 8a) is a low-cost walking robot with

4 joints (two on each leg). It’s movement is character-

Web extension version uses equivalent components.

ICINCO 2023 - 20th International Conference on Informatics in Control, Automation and Robotics

176

(a) Sensor requests (b) Sensor readings and actuators requests

Figure 6: Main components for bluetooth App.

Figure 7: Facilino blocks using telegrams.

ized by having no hip and thus in order to walk needs

proper coordination of foot and leg motors on each

leg. It uses an Arduino Nano (ATMega 328p) pro-

cessor to control four servo motors (SG90) to move

robot’s joints, an ultrasonic sensor (HC SR04) to de-

tect objects, a passive buzzer to produce sounds such

as simple melodies, a 1.9’ OLED screen to display

images and a bluetooth module HC-06 to extend com-

munication capabilities of Arduino Nano.

We have used this robot with a group of 8 students

(17-years old) in a educational initiative, known as

Praktikum, held at the Universitat Polit

ecnica de Va-

lencia (UPV) from 19th to 22nd june 2023. Within

Praktikum, students received a 6h course on how to

program with Facilino from scratch, using robot’s

components. They developed exercises to gener-

ate robot’s movements, read from ultrasonic sensor,

create customizable melodies and expressions (emo-

(a) bPED Robot (b) A Praktikum session

Figure 8: bPED robot used during Praktikum initiative at

the UPV.

tions) using the buzzer and the OLED screen with

the aim of creating a simple choreography with syn-

chronized movements, sounds and emotions. In addi-

tion to this, they developed the code for a simple App

containing buttons to send movement and expression

commands to the robot. A sample App was provided

to them with all components created for them, but

with blank code (only with the user-interface), while

the students had to implement code on AI2, but also

the code on the Arduino side with Facilino (in Fig-

ure 10 code for one single command is shown for

brevity, but students completed the code to include

upto 17 movements and 13 expressions). To grasp

an idea on the learning curve, students were able to

complete all these activities, while, of course, enjoy-

ing creating their own programs. None of them had

previous experience on Facilino, only three of them

had previous experience with Arduino and also two

of them used App Inventor beforehand in their regu-

lar academic activities.

Wireless Remote Control of Low-Cost Smart Devices for No-Coders

177

Figure 9: AI2 user-interface with command buttons.

Figure 10: Facilino blocks for receiving bluetooth com-

mands using bPED robot.

4.2 Home Automation

An intelligent eco-house described in this document

has been designed under EcoThings Project. The pur-

pose of this house is to serve as a mock-up in order to

evaluate the set of proposed electronics in the context

of an intelligent ecological house using similar prin-

ciples of real houses and energy saving systems. As a

consequence, the design has been oriented in provid-

ing low-cost solutions, considering as well as manu-

facturing aspects including 3D printing and laser cut-

ting.

The smart house includes a living room and a

green house that includes the following electronics:

ESP32 board, Arduino Uno Extension Shield V5, 3

servo’s (SG-90), Smoke/Gas sensor (MQ2), a mini

fan, a temperature/humidity sensor (DHT11), a mini

water pump moisture sensor, 7-RGB LEDs strip,

LDR-sensor (KY-018), 2-Channel relay board and a

passive buzzer. Figure 11 shows the location of be-

fore mentioned electronics, while Figure 12 shows the

implemented prototype manufactured using laser cut-

ting with pywood and 3D printed parts. The prototype

has been implemented by a group of Erasmus students

during their stay at the UPV. In the video (Armesto,

2022), we show a working demo of the whole proto-

type.

We also have developed an App in App Inventor

2 integrating Facilino bluetooth extension. A couple

of the screens developed for the App are shown in

Figure 13, while part of the corresponding code for

the screen Figure 13b is shown in Figure 14a, sending

a number to indicate a predeﬁned LEDs setting. Part

of the corresponding Facilino code to decoding the

telegram is shown in Figure 14b.

(a) Electronicsx... (b) Electronics

Figure 11: Electronics.

Figure 12: Eco-house prototype.

4.3 Survey

During this preliminary stage of the development, we

have conducted a survey among 16 users that have

tested the new version Facilino. In particular, the sur-

vey was ﬁlled by teachers from (latest courses of) pri-

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178

(a) Window control

screen (b) RGB LEDs screen

Figure 13: Some of the screens developed in App Inventor

2 for the smart house project

(a) AI2 RGB LED code.

(b) Facilino RGB LED code

Figure 14: Example code for controlling RGB LEDs.

mary and secondary school levels. Only 9 of them

have previous experience on programming with old

Facilino version, but all of them have some experi-

ence and interest on block programming tools, that’s

why all of them considered very relevant the use of

block programming tools appropriate to secondary

level when they were asked for (this was a explicit

question within the survey).

After testing the tool, they were asked about what

kind of features considered more relevant and graded

the main features of Facilino. In particular, they

were asked about the following Facilino features: 1)

Web application (front-end & back-end) that can be

used from any device; 2) User accounts (capability

to conﬁgure certain default aspects such as language

and keep track of projects); 3) Over-the-Air (allow

Figure 15: Relevance of Facilino’s features.

to work from devices such as tablets or iPADs and

upload code remotely to devices); 4) Project dash-

board (allow to better organize the different types

of projects and exercises requested in class, dupli-

cate, share, etc...); 5) Easier code compilation, be-

cause all library dependencies are already included;

6) Block simpliﬁcation (e.g.: inclusion of “shadow”

blocks with default value for inputs); 7) Generation of

tutorials and examples with built-in TinkerCAD sim-

ulations; 8) Toolbox blocks are adapted according to

the type of project to be generated (capability to ﬁler

out some blocks which are not relevant for a project

type); 9) Ability to view/modify the generated Ar-

duino code before compiling and uploading the code

to the microcontroller; 10) Translation tool (blocks

are translated into several languages). As it can be

seen in Figure 15 the feature that considered more rel-

evant is the fact that Facilino works as a web applica-

tion (multi-platform). Users consider quite relevant

the fact that all compilation and library dependency

issues have been simpliﬁed as well as the inclusion of

tutorials and examples.

On the other hand, users were also asked to grade

main features of Facilino with 1 being a poor grade

and 5 the highest possible grade. As it can be

seen from Figure 16, block programming obtains best

grades, followed by the fact that users can create their

custom project associated with their acccount and the

inclusion of tutorials and examples. According to

users, installation and setup needs to be improved, be-

ing the feature with the lowest grades.

5 CONCLUSIONS

In this paper, we have presented an on-going project

regarding with the development of a block program-

ming tool named Facilino. In particular, we have

presented the proposed set of blocks to communicate

with Bluetooth and WiFi with smart devices. We have

shown a couple of case studies were Facilino has been

Wireless Remote Control of Low-Cost Smart Devices for No-Coders

179

Installation & setup Programming (ability

to easily generate

programs with

blocks)

Documentation

(tutorials and

exercises)

Project management

and user account

1 2 3 4 5

Figure 16: Grading of Facilino features (1-low, 5-high).

used in combination with an extension created for

App Inventor 2 that allows users to remotely control

smart devices based on Arduino or ESP32. The pa-

per also shows a survey conducted to a small group of

users. Although the number of users testing the tool

is small, we took this survey to see potential ﬂaws of

the application for further improvement.

ACKNOWLEDGEMENTS

The authors are grateful to grant PID2020-

116585GB-I00 funded by MCIN/AEI/

10.13039/501100011033 (Agencia espa

nola de

investigaci

on) and grant 2021-1-ES01-KA220-SCH-

000034349 (Erasmus+). The authors are grateful to

EPS students working at the smart-house project.

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