Jetstorm is the library to make Pharo communicate with the Lego Mindstorm Ev3. We provide the technical report. It explains the protocol and the architecture of the library.

If you want to cite it, here is the lines to copy and paste in bibtex:

@techreport{Lava14a,
   Author = {Jannik Laval},
   Institution = {URIA -- Ecole des Mines de Douai},
   Title = {JetStorm - A communication protocol between Pharo and Lego Mindstorms},
   Url = {www.jannik-laval.eu/assets/files/papers/Lava14a-JetStorm.pdf},
   Year = {2014}
}

With the evolution of JetStorm, the Technical Report will be improved.