Revision as of 12:37, 6 August 2018

Robot configuration

This section explains how to configure the robot based on the communication channel you will use for your developments, thus you need to read only one of the following sections, but it would be better if you spend a bit of time reading them all in order to have a full understanding of the available configurations.

Bluetooth and USB

The main microcontroller and radio module of the robot are initially programmed with firmwares that together support Bluetooth and USB communication.

If the main microcontroller and radio module aren't programmed with the standard firmware or if you want to be sure to have the last firmwares on the robot, you need to program them with the last standard firmwares:

for the main microcontroller, refer to section main microcontroller firmware update
for the radio module, refer to section radio module firmware update

When you want to interact with the robot from the computer you need to place the selector in position 3 if you want to work with Bluetooth, or in position 8 if you want to work with USB.

Section Connecting to the Bluetooth gives step by step instructions on how to accomplish your first Bluetooth connection with the robot.

Section PC interface gives step by step instructions on how to connect the robot with the computer via USB.

Once you tested the connection with the robot and the computer, you can start developing your own application by looking at the details behind the communication protocol. Both communication channels use the same protocol called asercom v2, refer to section Communication protocol: BT and USB for detailed information about this protocol.

WiFi

For working with the WiFi, the main microcontroller and radio module must be programmed with dedicated firmwares (not the standard ones):

main microcontroller wifi firmware, for information on how to update the firmware refer to section main microcontroller firmware update
radio module wifi firmware, for information on how to update the firmware refer to section radio module firmware update

Put the selector in position 15.

Section Connecting to the WiFi gives step by step instructions on how to accomplish your first WiFi connection with the robot.

The communication protocol is described in detail in the section Communication protocol: WiFi.

Connecting to the Bluetooth

The standard firmware of the radio module creates 3 Bluetooth channels using the RFcomm protocol when the robot is paired with the computer:

Channel 1, GDB: port to connect with GDB if the programmer is in mode 1 or 3 (refer to chapter Configuring the Programmer's settings for more information about these modes)
Channel 2, UART: port to connect to the UART port of the main processor
Channel 3, SPI: port to connect to the SPI port of the main processor (not yet implemented. Just do an echo for now)

By default, the e-puck2 is not visible when you search for it in the Bluetooth utility of your computer.
To make it visible, it is necessary to hold the USER button (also labeled "esp32" on the electronic board) while turning on the robot with the ON/OFF button.

Then it will be discoverable and you will be able to pair with it.
Note that a prompt could ask you to confirm that the number written on the screen is the same on the e-puck. just ignore this and accept. Otherwise if you are asked for a pin insert 0000.

Windows 7

When you pair your computer with the e-puck2, 3 COM ports will be automatically created. To see which COM port corresponds to which channel you need to open the properties of the paired e-puck2 robot from Bluetooth devices. Then the ports and related channels are listed in the Services tab, as shown in the following figure:

Windows 10

When you pair your computer with the e-puck2, 6 COM ports will be automatically created. The three ports you will use have Outgoing direction and are named e_puck2_xxxxx-GDB, e_puck2_xxxxx-UART, e_puck2_xxxxx-SPI. xxxxx is the ID number of your e-puck2.
To see which COM port corresponds to which channel you need to:

open the Bluetooth devices manager
pair with the robot
click on More Bluetooth options
the ports and related channels are listed in the COM Ports tab, as shown in the following figure:

Linux

Once paired with the Bluetooth manager, you need to create the port for communicating with the robot by issueing the command:
sudo rfcomm bind /dev/rfcomm0 MAC_ADDR 2
The MAC address is visible from the Bluetooth manager. The parameter 2 indicates the channel, in this case a port for the UART channel is created. If you want to connect to another service you need to change this parameter accordingly (e.g. 1 for GDB and 3 for SPI). Now you can use /dev/rfcomm0 to connect to the robot.

Mac

When you pair your computer with the e-puck2, 3 COM ports will be automatically created: /dev/cu.e-puck2_xxxxx-GDB, /dev/cu.e-puck2_xxxxx-UART and /dev/cu.e-puck2_xxxxx-SPI. xxxxx is the ID number of your e-puck2.

Testing the Bluetooth connection

You need to download the PC application provided in section PC interface: available executables.
In the connection textfield you need to enter the UART channel port, for example:

Windows 7: COM258
Windows 10: e_puck2_xxxxx-UART
Linux: /dev/rfcomm0
Mac: /dev/cu.e-puck2_xxxxx-UART

and then click Connect.
You should start receiving sensors data and you can send commands to the robot.

Alternatively you can also use a simple terminal program (e.g. realterm in Windows) instead of the PC application, then you can issue manually the commands to receive sensors data or for setting the actuators (once connected, type h + ENTER for a list of availables commands).

Connecting to the WiFi

The WiFi channel is used to communicate with robot faster than with Bluetooth. At the moment a QQVGA (160x120) color image is transferred to the computer together with the sensors values at about 12 Hz; of course the robot is also able to receive commands from the computer.
In order to communicate with the robot through WiFi, first you need to configure the network parameters on the robot by connecting directly to it, since the robot is initially configured in access point mode, as explained in the following section. Once the configuration is saved on the robot, it will then connect automatically to the network and you can connect to it.

The LED2 is used to indicate the state of the WiFi connection:

red indicates that the robot is in access point mode (waiting for configuration)
green indicates that the robot is connected to a network and has received an IP address
blue (toggling) indicates that the robot is transferring the image to the computer
off when the robot cannot connect to the saved configuration

Network configuration

If there is no WiFi configuration saved in flash, then the robot will be in access point mode in order to let the user connect to it and setup a WiFi connection. The LED2 is red.

The access point SSID will be e-puck2_0XXXX where XXXX is the id of the robot; the password to connect to the access point is e-puck2robot.
You can use a phone, a tablet or a computer to connect to the robot's WiFi and then you need to open a browser and insert the address 192.168.1.1. The available networks are scanned automatically and listed in the browser page as shown in figure 1. Choose the WiFi signal you want the robot to establish a conection with from the web generated list, and enter the related password; if the password is correct you'll get a message saying that the connection is established as shown in figure 2. After pressing OK you will be redirected to the main page showing the network to which you're connected and the others available nearby as shown in figure 3. If you press on the connected network, then you can see your IP address as shown in figure 4; take note of the address since it will be needed later.

[1]	[2]	[3]	[4]

Now the configuration is saved in flash, this means that when the robot is turned on it will read this configuration and try to establish a connection automatically.
Remember that you need to power cycle the robot at least once for the new configuration to be active.

Once the connection is established, the LED2 will be green.

In order to reset the current configuration you need to press the user button for 2 seconds (the LED2 red will turn on), then you need to power cycle the robot to enter access point mode.

Finding the IP address

Often the IP address assigned to the robot will remain the same when connecting to the same network, so if you took note of the IP address in section Network configuration you're ready to go to the next section.
Otherwise you need to connect the robot to the computer with the USB cable and open the port labeled Serial Monitor (see chapter Finding the USB serial ports used). Then power cycle the robot and the IP address will be shown in the terminal (together with others informations), as illustrated in the following figure:

Testing the WiFi connection

A dedicated WiFi version of the PC application was developed to communicate with the robot through TCP protocol. You can download the executable from one of the following links:

Windows executable - WiFi
Mac (not available yet)
Linux (not available yet)

If you are interested to the source code, you can download it with the command git clone -b wifi --recursive https://github.com/e-puck2/monitor.git

Run the PC application, insert the IP address of the robot in the connection textfield and then click on the Connect button. You should start receiving sensors data and you can send commands to the robot. The LED2 blue will toggle.

Communication protocol

This section is the hardest part to understand. It outlines all the details about the communication protocols that you'll need to implement in order to communicate with the robot form the computer. So spend a bit of time reading and re-reading this section in order to grasp completely all the details.

Bluetooth and USB

WiFi

The communication is based on TCP; the robot create a TCP server and wait for a connection.

Each packet is identified by an ID (1 byte). The following IDs are used to send data from the robot to the computer:

0x00 = reserved
0x01 = QQVGA color image packet (only the first segment includes this id); packet size (without id) = 38400 bytes; image format = RGB565
0x02 = sensors packet; packet size (without id) = 104 bytes; the format of the returned values are based on the asercom protocol and are compatible with e-puck1.x:

Acc: raw axes values, between -1500 and 1500, resolution is +-2g
Acceleration: acceleration magnitude , between 0.0 and about 2600.0 (~3.46 g)
Orientation: between 0.0 and 360.0 degrees
0.0 deg 90.0 deg 180 deg 270 deg

Inclination: between 0.0 and 90.0 degrees (when tilted in any direction)
0.0 deg 90.0 deg
Gyro: raw axes values, between -32768 and 32767, range is +-250dps
Magnetometer: raw axes values, between -32760 and 32760, range is +-4912 uT (magnetic flux density expressed in micro Tesla)
Temp: temperature given in Celsius degrees
IR proximity: between 0 (no objects detected) and 4095 (object near the sensor)
IR ambient: between 0 (strong light) and 4095 (dark)
ToF distance: distance given in millimeters
Mic volume: between 0 and 4095
Motors steps: 1000 steps per wheel revolution
Battery:
uSD state: 1 if the micro sd is present and can be read/write, 0 otherwise
TV remote data: RC5 protocol
Selector position: between 0 and 15
Ground proximity: between 0 (no surface at all or not reflective surface e.g. black) and 1023 (very reflective surface e.g. white)
Ground ambient: between 0 (strong light) and 1023 (dark)
Button state: 1 button pressed, 0 button released

0x03 = empty packet (only id is sent); this is used as an acknowledgment for the commands packet when no sensors and no image is requested

The following IDs are used to send data from the computer to the robot:

0x80 = commands packet; packet size (without id) = 20 bytes:

request:
- bit0: 0=stop image stream; 1=start image stream
- bit1: 0=stop sensors stream; 1=start sensors stream
settings:
- bit0: 1=calibrate IR proximity sensors
- bit1: 0=disable onboard obstacle avoidance; 1=enable onboard obstacle avoidance (not implemented yet)
- bit2: 0=set motors speed; 1=set motors steps (position)
left and right: when bit2 of settings field is 0, then this is the desired motors speed (-1000..1000); when 1 then this is the value that will be set as motors position (steps)
LEDs: 0=off; 1=on; 2=toggle
- bit0: 0=LED1 off; 1=LED1 on
- bit1: 0=LED3 off; 1=LED3 on
- bit2: 0=LED5 off; 1=LED5 on
- bit3: 0=LED7 off; 1=LED7 on
- bit4: 0=body LED off; 1=body LED on
- bit5: 0=front LED off; 1=front LED on
RGB LEDs: for each LED, it is specified in sequence the value of red, green and blue (0...100)
sound id: 0x01=MARIO, 0x02=UNDERWOLRD, 0x04=STARWARS, 0x08=4KHz, 0x10=10KHz, 0x20=stop sound

For example to receive the camera image (stream) the following steps need to be followed:
1) connect to the robot through TCP
2) send the command packet:

0x80

0x01

0x00

3) read the ID (1 byte) and the QQVGA color image pakcet (38400 bytes)
4) go to step 3

Webots

TBD

ROS

TBD

e-puck2 and e-puck2 PC side development: Difference between pages

Revision as of 12:37, 6 August 2018

Contents

Robot configuration

Bluetooth and USB

WiFi

Connecting to the Bluetooth

Windows 7

Windows 10

Linux

Mac

Testing the Bluetooth connection

Connecting to the WiFi

Network configuration

Finding the IP address

Testing the WiFi connection

Communication protocol

Bluetooth and USB

WiFi

Webots

ROS

Navigation menu

@@ Line 1: / Line 1: @@
-=Hardware=
+[{{fullurl:e-puck2}} e-puck2 main wiki]<br/>
-==Overview==
-<span class="plainlinks">[http://www.gctronic.com/doc/images/e-puck2-overview.png <img width=500 src="http://www.gctronic.com/doc/images/e-puck2-overview_small.png">]</span>
-<span class="plainlinks">[http://projects.gctronic.com/epuck2/wiki_images/e-puck2-features.png <img width=600 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2-features_small.png">]</span><br/>
-The following figures show the main components offered by the e-puck2 robot and where they are physically placed:<br/>
+=Robot configuration=
-<span class="plainlinks">[http://projects.gctronic.com/epuck2/wiki_images/epuck2-components-position.png <img width=800 src="http://projects.gctronic.com/epuck2/wiki_images/epuck2-components-position_small.png">]</span><br/>
+This section explains how to configure the robot based on the communication channel you will use for your developments, thus you need to read only one of the following sections, but it would be better if you spend a bit of time reading them all in order to have a full understanding of the available configurations.
+==Bluetooth and USB==
+The main microcontroller and radio module of the robot are initially programmed with firmwares that together support Bluetooth and USB communication.<br/>
-==Specifications==
+If the main microcontroller and radio module aren't programmed with the standard firmware or if you want to be sure to have the last firmwares on the robot, you need to program them with the last standard firmwares:
-The e-puck2 robot maintains full compatibility with its predecessor e-puck (e-puck HWRev 1.3 is considered in the following table):
+* for the main microcontroller, refer to section [http://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update main microcontroller firmware update]
-{| border="1"
+* for the radio module, refer to section [http://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 radio module firmware update]
-|'''Feature'''
-|'''e-puck1.3'''
+When you want to interact with the robot from the computer you need to place the selector in position 3 if you want to work with Bluetooth, or in position 8 if you want to work with USB. <br/>
-|'''e-puck2'''
-|'''Compatibility'''
+Section [http://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Connecting_to_the_Bluetooth Connecting to the Bluetooth] gives step by step instructions on how to accomplish your first Bluetooth connection with the robot.<br/>
-|'''Additional'''
-|-
+Section [http://www.gctronic.com/doc/index.php?title=e-puck2#PC_interface PC interface] gives step by step instructions on how to connect the robot with the computer via USB.<br/>
-|Size, weight
-|70 mm diameter, 55 mm height, 150 g
+Once you tested the connection with the robot and the computer, you can start developing your own application by looking at the details behind the communication protocol. Both communication channels use the same protocol called <code>asercom v2</code>, refer to section [http://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Bluetooth_and_USB_2 Communication protocol: BT and USB] for detailed information about this protocol.<br/>
-|Same form factor: 70 mm diameter, 45 mm, 130 g
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
+==WiFi==
-|No e-jumper required
+For working with the WiFi, the main microcontroller and radio module must be programmed with dedicated firmwares (not the standard ones):
-|-
+* [http://projects.gctronic.com/epuck2/e-puck2_main-processor_wifi_afaa618.elf main microcontroller wifi firmware], for information on how to update the firmware refer to section [http://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update main microcontroller firmware update]
-|Battery, autonomy
+* [http://projects.gctronic.com/epuck2/esp32-firmware-wifi-7bf44de.zip radio module wifi firmware], for information on how to update the firmware refer to section [http://www.gctronic.com/doc/index.php?title=e-puck2#Firmware_update_2 radio module firmware update]
-|LiIPo rechargeable battery (external charger), 1800 mAh. <br/>About 3 hours autonomy. Recharging time about 2-3h.
+Put the selector in position 15.<br/>
-|Same battery; USB charging, recharging time about 2.5h.
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|USB charging
-|-
-|Processor
-|16-bit dsPIC30F6014A @ 60MHz (15 MIPS), DSP core for signal processing
-|32-bit STM32F407 @ 168 MHz (210 DMIPS), DSP and FPU, DMA
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|~10 times faster
-|-
-|Memory
-|RAM: 8 KB; Flash: 144 KB
-|RAM: 192 KB; Flash: 1024 KB
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|RAM: 24x more capable<br/>Flash:~7x more capable
-|-
-|Motors
-|2 stepper motors with a 50:1 reduction gear; 20 steps per revolution; about 0.13 mm resolution
-|Same motors
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
-|
-|-
-|Wheels
-|Wheels diamater = 41 mm <br/>Distance between wheels = 53 mm
-|Same wheels
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
-|
-|-
-|Speed
-|Max: 1000 steps/s (about 12.9 cm/s)
-|Max: 1200 steps/s (about 15.4 cm/s)
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|20% faster
-|-
-|Mechanical structure
-|Transparent plastic body supporting PCBs, battery and motors
-|Same mechanics
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
-|
-|-
-|Distance sensor
-|8 infra-red sensors measuring ambient light and proximity of objects up to 6 cm
-|Same infra-red sensors <br/>Front real distance sensor, Time of fight (ToF), up to 2 meter.
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|ToF sensor
-|-
-|IMU
-|3D accelerometer and 3D gyro
-|3D accelerometer, 3D gyro, 3D magnetometer
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|3D magnetometer
-|-
-|Camera
-|VGA color camera; typical use: 52x39 or 480x1
-|Same camera; typical use: 160x120
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
-|Bigger images handling
-|-
-|Audio
-|3 omni-directional microphones for sound localization<br/>speaker capable of playing WAV or tone sounds
-|4 omni-directional microhpones (digital) for sound localization<br/>speaker capable of playing WAV or tone sounds
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-| +1 front microphone
-|-
-|LEDs
-|8 red LEDs around the robot, green body light, 1 strong red LED in front
-|4 red LEDs and 4 RGB LEDs around the robot, green light, 1 strong red LED in front
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|4x RGB LEDs
-|-
-|Communication
-|RS232 and Bluetooth 2.0 for connection and programming
-|USB Full-speed, Bluetooth 2.0, BLE, WiFi
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|WiFi, BLE
-|-
-|Storage
-|Not available
-|Micro SD slot
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|Micro SD
-|-
-|Remote Control
-|Infra-red receiver for standard remote control commands
-|Same receiver
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
-|
-|-
-|Switch / selector
-|16 position rotating switch
-|Same selector
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
-|
-|-
-|Extensions
-|Ground sensors, range and bearing, RGB panel, Gumstix extension, omnivision, your own
-|All extension supported
-|style="text-align:center;" | <img width=40 src="http://www.gctronic.com/doc/images/ok.png">
-|
-|-
-|Programming
-|Free C compiler and IDE, Webots simulator, external debugger
-|Free C compiler and IDE, Webots simulator, onboard debugger (GDB)
-|style="text-align:center;" | <img width=30 src="http://www.gctronic.com/doc/images/plus.png">
-|Onboard debugger
-|}
-This is the overall communication schema:<br/>
+Section [http://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Connecting_to_the_WiFi Connecting to the WiFi] gives step by step instructions on how to accomplish your first WiFi connection with the robot.<br/>
-<span class="plainlinks">[http://www.gctronic.com/doc/images/comm-overall-e-puck2E.jpg <img width=700 src="http://www.gctronic.com/doc/images/comm-overall-e-puck2E.jpg">]</span><br/>
-==Documentation==
+The communication protocol is described in detail in the section [http://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2 Communication protocol: WiFi].<br/>
-* '''Main microcontroller''': STM32F407, [http://projects.gctronic.com/epuck2/doc/STM32F407xx_datasheet.pdf datasheet], [http://projects.gctronic.com/epuck2/doc/STM32F407_reference-manual.pdf reference-manual]
-* '''Programmer/debugger''': STM32F413, [http://projects.gctronic.com/epuck2/doc/STM32F413x_datasheet.pdf datasheet], [http://projects.gctronic.com/epuck2/doc/STM32F413_reference-manual.pdf reference-manual]
-* '''Radio module''': Espressif ESP32, [http://projects.gctronic.com/epuck2/doc/esp32_datasheet_en.pdf datasheet], [http://projects.gctronic.com/epuck2/doc/esp32_technical_reference_manual_en.pdf reference-manual]
-* '''Camera''': PixelPlus PO8030D CMOS image sensor, [http://projects.gctronic.com/E-Puck/docs/Camera/PO8030D.pdf datasheet], no IR cut filter
-* '''Microphones''': STM-MP45DT02, [http://projects.gctronic.com/epuck2/doc/mp45dt02.pdf datasheet]
-* '''Optical sensors''': Vishay Semiconductors Reflective Optical Sensor, [http://projects.gctronic.com/epuck2/doc/tcrt1000.pdf datasheet]
-* '''ToF distance sensor''': STM-VL53L0X, [http://projects.gctronic.com/epuck2/doc/VL53L0X-Datasheet.pdf datasheet], [http://projects.gctronic.com/epuck2/doc/VL53L0X-UserManual-API.pdf user-manual]
-* '''IMU''': InvenSense MPU-9250, [http://projects.gctronic.com/epuck2/doc/MPU-9250-product-specification.pdf product-specification], [http://projects.gctronic.com/epuck2/doc/MPU-9250-Register-Map.pdf register-map]
-* '''Motors''': [http://www.e-puck.org/index.php?option=com_content&view=article&id=7&Itemid=9 details]
-* '''Speaker''': Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar
-* '''IR receiver''': TSOP36230
-==Migrating from e-puck1.x to e-puck2==
+=Connecting to the Bluetooth=
-The e-puck2 robot maintains full compatibility with its predecessor e-puck, but there are some improvements that you should be aware of.<br/>
-First of all the e-jumper, that is the small board that is attached on top of the e-puck1.x, isn't anymore needed in the e-puck2. The components available on the e-jumper are integrated directly in the robot board. On top of the e-puck2 you'll see a quite big free connector, this is used to attach the extensions board designed for the e-puck1.x that are fully compatible with the e-puck2; you must not connect the e-jumper in this connector.<br/>
+The standard firmware of the radio module creates 3 Bluetooth channels using the RFcomm protocol when the robot is paired with the computer:
+# Channel 1, GDB: port to connect with GDB if the programmer is in mode 1 or 3 (refer to chapter [http://www.gctronic.com/doc/index.php?title=e-puck2_programmer_development#Configuring_the_Programmer.27s_settings Configuring the Programmer's settings] for more information about these modes)
+# Channel 2, UART: port to connect to the UART port of the main processor
+# Channel 3, SPI: port to connect to the SPI port of the main processor (not yet implemented. Just do an echo for now)
-Secondly you don't need anymore to unplug and plugin the battery for charging, but instead you can charge the battery directly by connecting the USB cable. If you want you can still charge the battery with the e-puck1.x external charger, in case you have more than one battery.<br/>
+By default, the e-puck2 is not visible when you search for it in the Bluetooth utility of your computer.<br>
+'''To make it visible, it is necessary to hold the USER button (also labeled "esp32" on the electronic board) while turning on the robot with the ON/OFF button.'''<br>
+::<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/e-puck2-bt-pair.png <img width=250 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2-bt-pair-small.png">]</span><br/>
+Then it will be discoverable and you will be able to pair with it.<br>
+Note that a prompt could ask you to confirm that the number written on the screen is the same on the e-puck. just ignore this and accept. Otherwise if you are asked for a pin insert 0000.
-Moreover you don't need anymore a special serial cable (with probably an RS232 to USB adapter) to be able to communicate with the robot, but you can use the USB cable. Once connected to the computer a serial port will be available that you can use to easily exchange data with the robot.
+==Windows 7==
+When you pair your computer with the e-puck2, 3 COM ports will be automatically created.
+To see which COM port corresponds to which channel you need to open the properties of the paired e-puck2 robot from <code>Bluetooth devices</code>. Then the ports and related channels are listed in the <code>Services</code> tab, as shown in the following figure:<br/>
+<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/BT-connection-win7.png <img width=300 src="http://projects.gctronic.com/epuck2/wiki_images/BT-connection-win7.png">]</span>
-==Extensions==
+==Windows 10==
-All the extensions (ground sensors, range and bearing, RGB panel, gumstix and omnvision) are supported by the e-puck2 robot, this means that if you have some extensions for the e-puck1.x you can still use them also with e-puck2.<br/>
+When you pair your computer with the e-puck2, 6 COM ports will be automatically created. The three ports you will use have <code>Outgoing</code> direction and are named <code>e_puck2_xxxxx-GDB</code>, <code>e_puck2_xxxxx-UART</code>, <code>e_puck2_xxxxx-SPI</code>. <code>xxxxx</code> is the ID number of your e-puck2.<br/>
-For more information about using the gumstix extension with e-puck2 robot refer to [http://www.gctronic.com/doc/index.php?title=Overo_Extension#e-puck2 http://www.gctronic.com/doc/index.php?title=Overo_Extension#e-puck2].
+To see which COM port corresponds to which channel you need to:
+# open the Bluetooth devices manager
+# pair with the robot
+# click on <code>More Bluetooth options</code>
+# the ports and related channels are listed in the <code>COM Ports</code> tab, as shown in the following figure:<br/>
+:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/BT-connection-win10.png <img height=300 src="http://projects.gctronic.com/epuck2/wiki_images/BT-connection-win10.png">]</span>
-=Getting Started=
+==Linux==
-The e-puck2 robot features 3 chips onboard:
+Once paired with the Bluetooth manager, you need to create the port for communicating with the robot by issueing the command: <br/>
-* the main microcontroller, that is responsible for handling the sensors and actuators and which runs also the demos/algorithms
+<code>sudo rfcomm bind /dev/rfcomm0 MAC_ADDR 2</code><br/>
-* the programmer, that provides programming/debugging capabilties and moreover it configures the USB hub and is responsible for the power management (on/off of the robot and battery measure)
+The MAC address is visible from the Bluetooth manager. The parameter <code>2</code> indicates the channel, in this case a port for the <code>UART</code> channel is created. If you want to connect to another service you need to change this parameter accordingly (e.g. <code>1</code> for <code>GDB</code> and <code>3</code> for <code>SPI</code>). Now you can use <code>/dev/rfcomm0</code> to connect to the robot.
-* radio module, that is responsible for handling the wireless communication (WiFi, BLE, BT), the RGB LEDs and the user button (the RGB LEDs and button are connected to the radio module due to the pin number limitation on the main microcontroller)
-The following sections explain the basic usage of the robot, more detailed information can be found following the links provided.
+==Mac==
+When you pair your computer with the e-puck2, 3 COM ports will be automatically created: <code>/dev/cu.e-puck2_xxxxx-GDB</code>, <code>/dev/cu.e-puck2_xxxxx-UART</code> and <code>/dev/cu.e-puck2_xxxxx-SPI</code>. xxxxx is the ID number of your e-puck2.
-==Turn on/off the robot==
+==Testing the Bluetooth connection==
-To turn on the robot you need to press the power button (blue button) placed on the bottom side of the board, near the speaker, as shown in the following figures:
+You need to download the PC application provided in section [http://www.gctronic.com/doc/index.php?title=e-puck2#Available_executables PC interface: available executables].<br/>
-::<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/e-puck2-btn-on-off2.jpg <img width=250 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2-btn-on-off2-small.jpg">][http://projects.gctronic.com/epuck2/wiki_images/e-puck2-btn-on-off.jpg <img width=300 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2-btn-on-off-small.jpg">]</span><br/>
+In the connection textfield you need to enter the UART channel port, for example:
-To turn off the robot you need to press the power button for 1 second.
+* Windows 7: <code>COM258</code>
+* Windows 10: <code>e_puck2_xxxxx-UART</code>
+* Linux: <code>/dev/rfcomm0</code>
+* Mac: <code>/dev/cu.e-puck2_xxxxx-UART</code>
+and then click <code>Connect</code>. <br/>
+You should start receiving sensors data and you can send commands to the robot.<br/>
-==Meaning of the LEDs==
+Alternatively you can also use a simple terminal program (e.g. <code>realterm</code> in Windows) instead of the PC application, then you can issue manually the commands to receive sensors data or for setting the actuators (once connected, type <code>h + ENTER</code> for a list of availables commands).
-The e-puck2 has three groups of LEDs that are not controllable by the user.
-::<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/e-puck2_top_leds.png <img width=250 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2_top_leds.png">]</span><br/>
+=Connecting to the WiFi=
-::''Top view of the e-puck2''
+The WiFi channel is used to communicate with robot faster than with Bluetooth. At the moment a QQVGA (160x120) color image is transferred to the computer together with the sensors values at about 12 Hz; of course the robot is also able to receive commands from the computer.<br/>
+In order to communicate with the robot through WiFi, first you need to configure the network parameters on the robot by connecting directly to it, since the robot is initially configured in access point mode, as explained in the following section. Once the configuration is saved on the robot, it will then connect automatically to the network and you can connect to it.
-*Charger: RED if charging, GREEN if charge complete and RED and GREEN if an error occurs
+The LED2 is used to indicate the state of the WiFi connection:
-*USB: Turned ON if the e-puck2 detects a USB connection with a computer
+* red indicates that the robot is in ''access point mode'' (waiting for configuration)
-*STATUS: Turned ON if the robot is ON and OFF if the robot is OFF. When ON, gives an indication of the level of the battery. Also blinks GREEN if the program is running during a debug session.
+* green indicates that the robot is connected to a network and has received an IP address
+* blue (toggling) indicates that the robot is transferring the image to the computer
+* off when the robot cannot connect to the saved configuration
+::<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/e-puck2-wifi-led.png <img width=250 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2-wifi-led-small.png">]</span><br/>
-Battery level indications (STATUS RGB LED):
+==Network configuration==
-*GREEN if the system's tension is greater than 3.5V
+If there is no WiFi configuration saved in flash, then the robot will be in ''access point mode'' in order to let the user connect to it and setup a WiFi connection. The LED2 is red.
-*ORANGE if the system's tension is between 3.5V and 3.4V
-*RED if the system's tension is between 3.4V and 3.3V
-*RED blinking if the system's tension is below 3.3V
-The robot is automatically turned OFF if the system's tension gets below 3.2V during 10 seconds.
+The access point SSID will be <code>e-puck2_0XXXX</code> where <code>XXXX</code> is the id of the robot; the password to connect to the access point is <code>e-puck2robot</code>.<br/>
+You can use a phone, a tablet or a computer to connect to the robot's WiFi and then you need to open a browser and insert the address <code>192.168.1.1</code>. The available networks are scanned automatically and listed in the browser page as shown in ''figure 1''. Choose the WiFi signal you want the robot to establish a conection with from the web generated list, and enter the related password; if the password is correct you'll get a message saying that the connection is established as shown in ''figure 2''. After pressing <code>OK</code> you will be redirected to the main page showing the network to which you're connected and the others available nearby as shown in ''figure 3''. If you press on the connected network, then you can see your IP address as shown in ''figure 4''; <b>take note of the address since it will be needed later</b>.<br/>
-==Connecting the USB cable==
+<span class="plainlinks">
-A micro USB cable (included with the robot in the package) is needed to connect the robot to the computer. There are two connectors, one placed on top of the robot facing upwards and the other placed on the side of the robot, as shown in the following figures. Both can be used to charge the robot or to communicate with it (do not connect two cables at the same time), choose the one that is more comfortable to you.
+<table>
-::<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/e-puck2-usb-conn.jpg <img width=250 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2-usb-conn-small.jpg">][http://projects.gctronic.com/epuck2/wiki_images/e-puck2-usb-conn2.jpg <img width=300 src="http://projects.gctronic.com/epuck2/wiki_images/e-puck2-usb-conn2-small.jpg">]</span><br/>
+<tr>
+<td align="center">[1]</td>
+<td align="center">[2]</td>
+<td align="center">[3]</td>
+<td align="center">[4]</td>
+</tr>
+<tr>
+<td>[http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup1.png <img width=150 src="http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup1.png">]</td>
+<td>[http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup2.png <img width=150 src="http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup2.png">]</td>
+<td>[http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup3.png <img width=150 src="http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup3.png">]</td>
+<td>[http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup4.png <img width=150 src="http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup4.png">]</td>
+</tr>
+</table>
+</span><br/>
+Now the configuration is saved in flash, this means that when the robot is turned on it will read this configuration and try to establish a connection automatically.<br/>
+Remember that you need to power cycle the robot at least once for the new configuration to be active.<br/>
-==Installing the USB drivers==
+Once the connection is established, the LED2 will be green.<br/>
-The USB drivers must be installed only for the users of a Windows version older than Windows 10:
-#Download and open [http://projects.gctronic.com/epuck2/zadig-2.3.exe zadig-2.3.exe]
+In order to reset the current configuration you need to press the user button for 2 seconds (the LED2 red will turn on), then you need to power cycle the robot to enter ''access point mode''.
-#Connect the e-puck2 with the USB cable and turn it on. Three unknown devices appear in the device list of the program, namely '''e-puck2 STM32F407''', '''e-puck2 GDB Server (Interface 0)''' and '''e-puck2 Serial Monitor (Interface 2)'''.
-#For each of the three devices mentioned above, select the <code>USB Serial (CDC)</code> driver and click on the <code>Install Driver</code> button to install it. Accept the different prompts which may appear during the process. At the end you can simply quit the program and the drivers are installed. These steps are illustrated on Figure 3 below.
-::Note : The drivers installed are located in <code>C:\Users\"your_user_name"\usb_driver</code>
-:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/Zadig_e-puck2_STM32F407.png <img width=500 src="http://projects.gctronic.com/epuck2/wiki_images/Zadig_e-puck2_STM32F407.png">]</span><br/>
+==Finding the IP address==
-::''Example of driver installation for e-puck2 STM32F407''
+Often the IP address assigned to the robot will remain the same when connecting to the same network, so if you took note of the IP address in section [http://www.gctronic.com/doc/index.php?title=e-puck2#Network_configuration Network configuration] you're ready to go to the next section. <br/>
+Otherwise you need to connect the robot to the computer with the USB cable and open the port labeled <code>Serial Monitor</code> (see chapter [http://www.gctronic.com/doc/index.php?title=e-puck2#Finding_the_USB_serial_ports_used Finding the USB serial ports used]). Then power cycle the robot and the IP address will be shown in the terminal (together with others informations), as illustrated in the following figure:<br/>
+<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup5.png <img width=500 src="http://projects.gctronic.com/epuck2/wiki_images/esp32-wifi-setup5.png">]</span>
-The drivers are automatically installed with Windows 10, Linux and Mac OS.
+==Testing the WiFi connection==
+A dedicated WiFi version of the PC application was developed to communicate with the robot through TCP protocol. You can download the executable from one of the following links:
+* [http://projects.gctronic.com/epuck2/monitor_wifi_27dddd4.zip Windows executable - WiFi]
+* Mac (not available yet)
+* Linux (not available yet)
-Anyway in Linux in order to access the serial ports, a little configuration is needed. Type the following command in a terminal session: <code>sudo adduser $USER dialout</code>. Once done, you need to log off to let the change take effect.
+If you are interested to the source code, you can download it with the command <code>git clone -b wifi --recursive https://github.com/e-puck2/monitor.git</code><br/>
-==Finding the USB serial ports used==
+Run the PC application, insert the IP address of the robot in the connection textfield and then click on the <code>Connect</code> button. You should start receiving sensors data and you can send commands to the robot. The LED2 blue will toggle.<br/>
-Two ports are created by the e-puck2's programmer when the USB cable is connected to the robot (even if the robot is turned off):
-* '''e-puck2 GDB Server'''. The port used to program and debug the e-puck2.
-* '''e-puck2 Serial Monitor'''. Serial communication between the PC and the radio module (used also to program the radio module).
-A third port could be available depending on the code inside the e-puck2's microcontroller. With the standard firmware a port named '''e-puck2 STM32F407''' is created.
+=Communication protocol=
-===Windows===
+This section is the hardest part to understand. It outlines all the details about the communication protocols that you'll need to implement in order to communicate with the robot form the computer. So spend a bit of time reading and re-reading this section in order to grasp completely all the details.
-#Open the Device Manager
-#Under '''Ports (COM & LPT)''' you can see the virtual ports connected to your computer.
-#Do a '''Right-click -> properties''' on the COM port you want to identify.
-#Go under the '''details''' tab and select '''Bus reported device description''' in the properties list.
-#The name of the port should be written in the text box below.
-#Once you found the desired device, you can simply look at its port number '''(COMX)'''.
-===Linux===
+==Bluetooth and USB==
-:1. Open a terminal window (<code>ctrl+alt+t</code>) and enter the following command: <code>ls /dev/ttyACM*</code>
-:2. Look for '''ttyACM0''' and '''ttyACM1''' in the generated list, which are respectively '''e-puck2 GDB Server''' and '''e-puck2 Serial Monitor'''.
-Note : Virtual serial port numbering on Linux is made by the connections order, thus it can be different if another device using virtual serial ports is already connected to your computer.
-===Mac===
-:1. Open a terminal window and enter the following command.
-:<pre>ls /dev/cu.usbmodem*</pre>
-:2. Look for two '''cu.usbmodemXXXX''', where XXXX is the number attributed by your computer. You should find two names, more or less following in the numbering, which are respectively '''e-puck2 GDB Server''' and '''e-puck2 Serial Monitor'''.
-Note : Virtual serial port numbering on Mac depends on the physical USB port used and the device. If you want to keep the same names, you must connect to the same USB port each time.
+==WiFi==
+The communication is based on TCP; the robot create a TCP server and wait for a connection.<br/>
-==PC interface==
+Each packet is identified by an ID (1 byte). The following IDs are used to send data from the robot to the computer:
-<span class="plainlinks">[http://projects.gctronic.com/epuck2/wiki_images/monitor.png <img width=250 src="http://projects.gctronic.com/epuck2/wiki_images/monitor_small.png">]<br/>
+* 0x00 = reserved
-An interface running on a computer and connecting to the e-puck2 either through Bluetooth (selector position 3) or via USB (selector position 8) based on the advanced sercom protocol was developed; from this interface it's possible to have information about all the sensors, receive camera images and control the leds and motors. The source code is available from the repository [https://github.com/e-puck2/monitor https://github.com/e-puck2/monitor].
+* 0x01 = QQVGA color image packet (only the first segment includes this id); packet size (without id) = 38400 bytes; image format = RGB565
-Available executables:
+* 0x02 = sensors packet; packet size (without id) = 104 bytes; the format of the returned values are based on the [http://www.gctronic.com/doc/index.php/Advanced_sercom_protocol asercom protocol] and are compatible with e-puck1.x:
-* [http://projects.gctronic.com/epuck2/monitor_win.zip Windows executable]: tested on Windows 7 and Windows 10
-* [http://projects.gctronic.com/epuck2/monitor_mac.zip Max OS X executable]
-On Linux remember to apply the configuration explained in the chapter [http://www.gctronic.com/doc/index.php?title=e-puck2#Serial_Port Installation for Linux - Serial Port] in order to access the serial port.
+:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/packet-format-robot-to-pc.jpg <img width=1150 src="http://projects.gctronic.com/epuck2/wiki_images/packet-format-robot-to-pc.jpg">]</span><br/>
+:*Acc: raw axes values, between -1500 and 1500, resolution is +-2g
+:*Acceleration: acceleration magnitude <img width=70 src="http://projects.gctronic.com/epuck2/wiki_images/3dvector-magnitude.png">, between 0.0 and about 2600.0 (~3.46 g)
+:*Orientation: between 0.0 and 360.0 degrees <table><tr><td align="center">0.0 deg</td><td align="center">90.0 deg</td><td align="center">180 deg</td><td align="center">270 deg</td></tr><tr><td><img width=80 src="http://projects.gctronic.com/epuck2/wiki_images/orientation0.png"></td><td><img width=80 src="http://projects.gctronic.com/epuck2/wiki_images/orientation90.png"></td><td><img width=80 src="http://projects.gctronic.com/epuck2/wiki_images/orientation180.png"></td><td><img width=80 src="http://projects.gctronic.com/epuck2/wiki_images/orientation270.png"></td></tr></table>
-===WiFi support===
+:*Inclination: between 0.0 and 90.0 degrees (when tilted in any direction)<table><tr><td align="center">0.0 deg</td><td align="center">90.0 deg</td></tr><tr><td><img width=80 src="http://projects.gctronic.com/epuck2/wiki_images/inclination0.png"></td><td><img width=80 src="http://projects.gctronic.com/epuck2/wiki_images/inclination90.png"></td></tr></table>
-A dedicated WiFi version of the monitor application was developed to communicate with the robot through TCP protocol.<br/>
+:*Gyro: raw axes values, between -32768 and 32767, range is +-250dps
-For more information about the communication protocol, refer to section [http://www.gctronic.com/doc/index.php?title=e-puck2#WiFi_communication_protocol WiFi communication protocol].<br/>
+:*Magnetometer: raw axes values, between -32760 and 32760, range is +-4912 uT (magnetic flux density expressed in micro Tesla)
-The source code can be downloaded with the command <code>git clone -b wifi --recursive https://github.com/e-puck2/monitor.git</code><br/>
+:*Temp: temperature given in Celsius degrees
-A Windows executable is available here [http://projects.gctronic.com/epuck2/monitor_wifi_27dddd4.zip Monitor WiFi for Windows].
+:*IR proximity: between 0 (no objects detected) and 4095 (object near the sensor)
+:*IR ambient: between 0 (strong light) and 4095 (dark)
+:*ToF distance: distance given in millimeters
+:*Mic volume: between 0 and 4095
+:*Motors steps: 1000 steps per wheel revolution
+:*Battery:
+:*uSD state: 1 if the micro sd is present and can be read/write, 0 otherwise
+:*TV remote data: RC5 protocol
+:*Selector position: between 0 and 15
+:*Ground proximity: between 0 (no surface at all or not reflective surface e.g. black) and 1023 (very reflective surface e.g. white)
+:*Ground ambient: between 0 (strong light) and 1023 (dark)
+:*Button state: 1 button pressed, 0 button released
+* 0x03 = empty packet (only id is sent); this is used as an acknowledgment for the commands packet when no sensors and no image is requested
+The following IDs are used to send data from the computer to the robot:
+* 0x80 = commands packet; packet size (without id) = 20 bytes:
-==High level programming==
+:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/packet-format-pc-to-robot.jpg <img width=600 src="http://projects.gctronic.com/epuck2/wiki_images/packet-format-pc-to-robot.jpg">]</span><br/>
-...
-=Main microcontroller=
+:*request:
-[http://www.gctronic.com/doc/index.php?title=e-puck2_main_microcontroller_programming main microcontroller programming]
+:** bit0: 0=stop image stream; 1=start image stream
+:** bit1: 0=stop sensors stream; 1=start sensors stream
+:*settings:
+:** bit0: 1=calibrate IR proximity sensors
+:** bit1: 0=disable onboard obstacle avoidance; 1=enable onboard obstacle avoidance (not implemented yet)
+:** bit2: 0=set motors speed; 1=set motors steps (position)
+:*left and right: when bit2 of <code>settings</code> field is <code>0</code>, then this is the desired motors speed (-1000..1000); when <code>1</code> then this is the value that will be set as motors position (steps)
+:*LEDs: 0=off; 1=on; 2=toggle
+:** bit0: 0=LED1 off; 1=LED1 on
+:** bit1: 0=LED3 off; 1=LED3 on
+:** bit2: 0=LED5 off; 1=LED5 on
+:** bit3: 0=LED7 off; 1=LED7 on
+:** bit4: 0=body LED off; 1=body LED on
+:** bit5: 0=front LED off; 1=front LED on
+:*RGB LEDs: for each LED, it is specified in sequence the value of red, green and blue (0...100)
+:* sound id: 0x01=MARIO, 0x02=UNDERWOLRD, 0x04=STARWARS, 0x08=4KHz, 0x10=10KHz, 0x20=stop sound
-=Radio module=
+For example to receive the camera image (stream) the following steps need to be followed:<br/>
+) connect to the robot through TCP<br/>
+) send the command packet:
+:{| border="1"
+|0x80
+|0x01
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|0x00
+|}
+) read the ID (1 byte) and the QQVGA color image pakcet (38400 bytes)<br/>
+) go to step 3
+=Webots=
+TBD
-=Programmer=
+=ROS=
-...
+TBD

0.0 deg	90.0 deg	180 deg	270 deg

0.0 deg	90.0 deg

e-puck2 and e-puck2 PC side development: Difference between pages

Revision as of 12:37, 6 August 2018

Robot configuration

Bluetooth and USB

WiFi

Connecting to the Bluetooth

Windows 7

Windows 10

Linux

Mac

Testing the Bluetooth connection

Connecting to the WiFi

Network configuration

Finding the IP address

Testing the WiFi connection

Communication protocol

Bluetooth and USB

WiFi

Webots

ROS

Navigation menu

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