First connection

In this tutorial, you'll pair your Agent and Remote, establish trust, and send your first command.

What you'll learn

Prerequisites

Step 1: Initiate pairing

On the Remote, tap the [Pair] button next to the Agent:

Initiate Pairing

Step 2: The pairing request

When you tap Pair, the Remote sends a pairing request. The Agent shows:

Pairing Request

Verify the identity

Before accepting:

  1. Check the identicon - Does it match what the Remote shows?
  2. Check the name - Is this the Remote you expect?
  3. Physical verification - Is the Remote in your hands?

Security Consideration

Always verify identicons before accepting pairing requests. A matching identicon proves the Remote has the private key corresponding to its advertised public key.

Step 3: Accept the pairing

On the Agent, tap [Accept].

Both nodes now exchange cryptographic handshake data:

Pairing Handshake

Did You Know?

The handshake uses a 3-way exchange similar to TCP, but with RSA encryption. Each side proves they hold the private key matching their claimed identity.

Step 4: Set trust level

After accepting, the Agent asks what trust level to assign:

Trust Level Selection

Select Trust for full control capability, then tap [Confirm].

Step 5: Connection established

Both nodes now show they're connected:

On the Agent

Agent Connected

On the Remote

Remote Connected

Step 6: Enter control mode

Tap [Control] on the Remote to enter the control interface:

Control Mode

The control interface adapts based on the Agent's hardware configuration.

Pro Tip

The control interface is fully customizable. If your robot has a specific control scheme, you can modify the layout in the Agent's hardware configuration.

Step 7: Send your first command

If hardware is configured

Try the steering controls:

The Agent will respond by moving the connected motors.

If no hardware

Even without hardware, you can still:

  1. See the Agent's face react
  2. View sensor data (if available)
  3. Verify the connection works

Step 8: View sensor data

If the Agent has sensors, view their data:

  1. Tap on the Agent in the control view
  2. Select Sensors

Sensor Data

Sensor data streams in real-time as long as the connection is active.

Step 9: Disconnect

When you're done:

  1. Tap [Back] to return to the Agent list
  2. The connection stays established

To fully disconnect, tap the connected Agent and select Disconnect.

Note: Disconnecting doesn't remove the trust relationship. Next time, you can reconnect without re-pairing.

What you've accomplished

Congratulations! You've:

Understanding your connection

Trust persistence

The trust you established is saved:

Reconnecting

Next time both nodes are running:

  1. They will discover each other automatically
  2. The trust relationship is remembered
  3. You can control immediately without re-pairing

Changing trust

To change trust level later:

  1. Go to ☰ Menu → Pairing
  2. Select the peer
  3. Adjust the trust slider

Troubleshooting

"Connection failed"

Network issues:

# Check connectivity
ping 192.168.1.105

# Check ports
nc -zv 192.168.1.105 8124

Firewall blocking:

# Open UDP port
sudo ufw allow 8124/udp

"Pairing rejected"

The Agent rejected your pairing request. This could mean:

"Control not responding"

If commands don't seem to work:

  1. Check the trust level is at Trust
  2. Verify hardware is configured on the Agent
  3. Check the connection status indicator

"Sensor data not updating"

If sensors show stale data:

  1. Check sensors are configured on the Agent
  2. Verify the connection is active
  3. Try the [Refresh] button

Next steps

Now that you have a working OctoMY™ setup, explore: