Development of a Wireless Distributed Real-Time Angklung Robot System

Abstract

This research discusses the development of Klungbot WDR, a wireless distributed real-time angklung robot system, leveraging the capabilities of ESP32 microcontrollers. The system employs an easily scalable architecture of a main device and multiple sub-devices, each controlling a set of angklungs. Real Time Operating System (RTOS) is used to ensure a timely execution of time-critical tasks. The wireless communication between these devices is facilitated using the ESP-NOW protocol. An investigation into the latency difference of ESP-NOW registered peers broadcast versus channel-wide broadcast revealed a significant delay between each subsequent peer in a registered peers broadcast compared to the consistent latency in a channel-wide broadcast. Confirming that channel-wide broadcast is the preferred way to do a one-to-many ESP-NOW communication in this particular application. The system managed to achieve a 1.63ms communication latency and 56.63ms action-sound latency. Indicating that the electromechanical system is the primary contributor to overall action-sound latency. This research provides valuable insights into the design and operation of real-time wireless communication systems for automated musical instruments.