e-puck2 robot side development and Others Extensions: Difference between pages

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[{{fullurl:e-puck2}} e-puck2 main wiki]<br/>
=Range and bearing=
=Installation of the e-puck2 environment=
<span class="plainlinks">[http://www.gctronic.com/doc/images/randb-1-small.jpg <img height=150 src="http://www.gctronic.com/doc/images/randb-1.jpg">][http://www.gctronic.com/doc/images/randb-2-small.jpg <img height=150 src="http://www.gctronic.com/doc/images/randb-2.jpg">]</span><br/>
Eclipse_e-puck2 is a distribution of Eclipse IDE for C/C++ Developers specially modified to edit and compile e-puck2's projects out of the box. It doesn't require to be installed and everything needed is located in the package given. The only dependency needed to be able to run Eclipse is '''Java'''.
The board allows situated agents to communicate locally, obtaining at the same time both the range and the bearing of the emitter without the need of any centralized control or any external reference. Therefore, the board allows the robots to have an embodied, decentralized and scalable communication system. The system relies on infrared communications with frequency modulation and is composed of two interconnected modules for data and power measurement.<br/>


==Installation for Windows==
The documentation and hardware files are available in the following links:
===Java 8 32bits===
* [https://projects.gctronic.com/randb/eRandB_Ed.D_Schematics.pdf Schematics (pdf)]
This section can be ignored if Java version 8 32bits is already installed on your computer.<br>
* [https://projects.gctronic.com/randb/eRandB_Ed.D_Assembling.pdf Assembling (pdf)]
To verify, you can open the '''Programs and Features''' panel and search for a '''Java 8 Update xxx''' install.
* [https://projects.gctronic.com/randb/eRandB_Ed.D_BillOfMaterials.xls Bill of Materials (xls)]
* [https://projects.gctronic.com/randb/eRandB_Ed.D_PCB.pdf PCB (pdf)]
* [https://projects.gctronic.com/randb/eRandB_Ed.D_HardwareSourceFiles.zip Hardware source files(zip)]
* [https://projects.gctronic.com/randb/eRandB_Ed.D_Fabrication.zip Fabrication: Gerber, pick and place, ... (zip)]
* [https://projects.gctronic.com/randb/eRandB_manual.pdf e-RandB manual (pdf)]
* [https://projects.gctronic.com/randb/eRandB_firmware.zip e-RandB firmware (zip)]
* [https://projects.gctronic.com/randb/eRandB_software.tgz e-puck software and examples (tgz)]


#Go to the [https://www.java.com/en/download/manual.jsp Java download page] and download "Windows offline" This is the 32bits version of Java.
You can find more information about this board in the following links: [http://www.e-puck.org/index.php?option=com_content&view=article&id=35&Itemid=23 http://www.e-puck.org/index.php?option=com_content&view=article&id=35&Itemid=23].
#Run the downloaded installer and follow its instructions to proceed with the installation of Java 32bits.
#Close the internet browser if it opened at the end of the installation.


:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/Java_windows.png <img width=500 src="http://projects.gctronic.com/epuck2/wiki_images/Java_windows.png">]</span><br/>
The following table lists the I2C the registers map:
:''Java download page''
<blockquote>
{| border="1" cellpadding="10" cellspacing="0"
!Address !!Read !!Write
|-
|0 || 1 if data available, 0 otherwise || -
|-
|1 || data MSB || -
|-
|2 || data LSB || -
|-
|3 || bearing MSB || -
|-
|4 || bearing LSB: <code>double((MSB<<8)+LSB)*0.0001</code> to get angle in degrees|| -
|-
|5 || range MSB || -
|-
|6 || range LSB || -
|-
|7 || max peak (adc reading) MSB || -
|-
|8 || max peak (adc reading) LSB || -
|-
|9 || sensor that received the data (between 0..11) || -
|-
|12 || - || Set transmission power (communication range): between 0 (max range) and 255 (min range)
|-
|13 || - || data LSB (prepare)
|-
|14 || - || data MSB (send <code>(MSB<<8)+LSB</code>)
|-
|16 || - || 0 store light conditions (calibration)
|-
|17 || - || 1=onboard calculation, 0=host calculation
|-
|}
</blockquote>


===Eclipse_e-puck2===
==Firmware source code==
#Download the [http://projects.gctronic.com/epuck2/Eclipse_e-puck2/Eclipse_e-puck2_Win32_11_apr_2018.zip Eclipse_e-puck2 package for windows].
The firmware code of the range and bearing extension is open source and is available as a git repository. To download the source code you need to install git on your system:
#Unzip the downloaded file to the location you want (can take time). It is strongly recommended for better performance and less extraction time to use 7Zip. You can download it on http://www.7-zip.org.
* Windows: downlaod git from [https://gitforwindows.org/ https://gitforwindows.org/] and follow the installation instructions (default configuration is ok)
#You can now run the <code>Eclipse_e-puck2.exe</code> to launch Eclipse.
* Linux: issue the command <code>sudo apt-get install git</code>
#You can create a shortcut to Eclipse_e-puck2.exe and place it anywhere if you want.
* Mac: issue the command <code>brew install git</code>


:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/Eclipse_e-puck2_Folder_Windows.png <img width=800 src="http://projects.gctronic.com/epuck2/wiki_images/Eclipse_e-puck2_Folder_Windows.png">]</span><br/>
The source code can downloaded with the command: <code>git clone https://github.com/gctronic/range_and_bearing_firmware.git</code><br/>
:''Eclipse_e-puck2 folder obtained after extraction''
The command must be issued in <code>Git bash</code> on Windows, or in a terminal on Linux / Mac.


'''Important things to avoid :'''
You can download the pre-built firmware in the following link [https://projects.gctronic.com/randb/range_and_bearing_firmware_17.12.21_f928563.hex range and bearing firmware (17.12.21)].
:1. The path to the Eclipse_e-puck2 folder must contain zero space.  
::Example :
::<code>C:\epfl_stuff\Eclipse_e-puck2</code> OK
::<code>C:\epfl stuff\Eclipse_e-puck2</code> NOT OK
:2. You must not put Ellipse_e-puck2 folder into '''Program Files (x86)'''. Otherwise the compilation when using Eclipse will not work.  
:3. The file’s structure in the Eclipse_e-puck2 folder must remain the same. It means no file inside this folder must be moved to another place.


==Installation for Linux==
==e-puck 1==
===Java 8===
A simple [https://projects.gctronic.com/randb/test-eRandB.zip MPLAB project] was created to let start using these modules. With the selector it's possible to choose whether the robot is an emitter (selector in position 0) or a receiver (selector in position 1). The receiver will send the information (data, bearing, distance, sensor) through Bluetooth.
This section can be ignored if Java is already installed on your computer.<br>
To verify whether it is installed or not you can type the following command into a terminal window:
<pre>update-java-alternatives -l</pre>
If Java is installed, you will get some information about it, otherwise the command will be unknown.<br>
You need to have Java 1.8.xxxx listed to be able to run Eclipse_e-puck2.


Type the following commands in a terminal session to install Java SDK:
==e-puck 2==
<pre>sudo add-apt-repository ppa:openjdk-r/ppa
The e-puck2 standard firmware contains examples usages of the range and bearing extension. When the selector is in position 4 then the robot is set to be a receiver, when in position 5 then the robot is both transmitter and receiver at the same time. In both demos the information received (data received, bearing, distance and sensor id) will be printed via Bluetooth.<br/>
sudo apt-get update
You can download the pre-built firmware from [https://projects.gctronic.com/epuck2/e-puck2_main-processor_randb.elf e-puck2_main-processor_randb.elf]; the source code is available from the repo [https://github.com/e-puck2/e-puck2_main-processor https://github.com/e-puck2/e-puck2_main-processor].<br/>
sudo apt-get install openjdk-8-jre </pre>
Beware that the only communication channel available between the robot and the range and bearing extension is the I2C bus, the UART channel is not available with e-puck 2.


===Eclipse_e-puck2===
=Ground sensors=
#Install <code>make</code> (probably you already have it installed) by issueing the command: <code>sudo apt-get install make</code>
<span class="plainlinks">[http://www.gctronic.com/doc/images/E-puck-groundsensors.jpg <img width=200 src="http://www.gctronic.com/doc/images/E-puck-groundsensors.jpg">]</span>
#Download the Eclipse_e-puck2 package for Linux [http://projects.gctronic.com/epuck2/Eclipse_e-puck2/Eclipse_e-puck2_Linux_11_apr_2018_32bits.tar.gz 32bits] / [http://projects.gctronic.com/epuck2//Eclipse_e-puck2/Eclipse_e-puck2_Linux_11_apr_2018_64bits.tar.gz 64bits]. Pay attention to the 32bits or 64bits version. If unsure which Linux version you have, enter the following comand <code>uname -a</code> in the terminal window and look for i686 (32bit) or x86_64 (64 bit). 
#Extract the downloaded file to the location you want (can take time).
#You can now run the <code>Eclipse_e-puck2</code> executable to launch Eclipse.


:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/Eclipse_e-puck2_Folder_Linux.png <img width=800 src="http://projects.gctronic.com/epuck2/wiki_images/Eclipse_e-puck2_Folder_Linux.png">]</span><br/>
The factory firmware of both the e-puck1 and e-puck2 supports the ground sensors extension: for e-puck1 refer to the section [https://www.gctronic.com/doc/index.php?title=E-Puck#Standard_firmware Standard firmware], for e-puck2 refer to section [https://www.gctronic.com/doc/index.php?title=e-puck2#Factory_firmware Factory firmware].
:''Eclipse_e-puck2 folder obtained after extraction''


Note : The icon of the Eclipse_e-puck2 executable will appear after the first launch of the program.
Once the robot is programmed with its factory firmware, you can get the values from the ground sensors through Bluetooth by putting the selector in position 3 and issueing the command <code>m</code> that will return 5 values, the first 3 values are related to the ground sensors (left, center, right), the last 2 values are related to the cliff extension (if available).<br/>
For more information about the Bluetooth connection refer to section [https://www.gctronic.com/doc/index.php?title=E-Puck#Getting_started Getting started] (e-puck1) or [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Connecting_to_the_Bluetooth Connecting to the Bluetooth] (e-puck2).<br/>
For more information about the Bluetooth protocol refer to section [https://www.gctronic.com/doc/index.php?title=Advanced_sercom_protocol Advanced sercom protocol].


'''Important things to avoid :'''
If you couple the e-puck extension for Gumstix Overo with the ground sensor refer to the section [http://www.gctronic.com/doc/index.php/Overo_Extension#Ground_sensor http://www.gctronic.com/doc/index.php/Overo_Extension#Ground_sensor] to have an example on how to read the sensor values.
:1. You cannot create a Link to the Eclipse_e-puck2 executable because otherwise the program will think its location is where the Link is and it will not find the resource located in the Eclipse_e-puck2 folder.
:2. The path to the Eclipse_e-puck2 folder must contain zero space.
::Example :
::<code>/home/student/epfl_stuff/Eclipse_e-puck2</code> OK
::<code>/home/student/epfl stuff/Eclipse_e-puck2</code> NOT OK
:3. The file’s structure in the Eclipse_e-puck2 folder must remain the same. It means no file inside this folder must be moved to another place.


==Installation for Mac==
You can find more information about the ground sensors extension module in the following link [http://www.e-puck.org/index.php?option=com_content&view=article&id=17&Itemid=18 http://www.e-puck.org/index.php?option=com_content&view=article&id=17&Itemid=18].<br/>
===Command Line Tools ===
To compile on Mac with Eclipse_e-puck2, it is necessary to have the Command Line Tools installed. It is a bundle of many commonly used tools.<br>
You can install it by typing the following command in a terminal window. It will then open a popup asking you if you want to install this bundle. Otherwise it will tell you it is already installed.
<pre>xcode-select --install</pre>


===Java 8===
==Assembly for e-puck2==
This section can be ignored if Java is already installed on your computer.<br>
<span class="plainlinks"><table><tr><td align="center">[1]</td><td align="center">[2]</td><td align="center">[3.1]</td><td align="center">[3.2]</td><td align="center">[3.3]</td><td align="center">[3.4]</td></tr><tr><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-1.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-1_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-2.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-2_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.1.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.1_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.2.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.2.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.3.jpeg <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.3_small.jpeg">][https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.4.jpeg <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.4_small.jpeg">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.5.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-3.5.png">]</td></tr><tr><td align="center">[4]</td><td align="center">[5.1]</td><td align="center">[5.2]</td><td align="center">[5.3]</td><td align="center">[5.4]</td><td align="center">[6]</td></tr><tr><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-4.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-4_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.1.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.1_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.2.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.2_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.3.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.3_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.4.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-5.4_small.png">]</td><td align="center">[https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-6.png <img height=200 src="https://projects.gctronic.com/epuck2/wiki_images/ground-assembly-6_small.png">]</td></tr></table></span>
To verify whether it is installed or not you can type the following command into a terminal window. It will list all the Java runtimes installed on your Mac.
# Unscrew the 3 spacers and remove the battery.
<pre>/usr/libexec/java_home -V</pre>
# Remove the top side from the case body gently.
You need to have <code>Java SE 8</code> listed to be able to run Eclipse_e-puck2.
# Detach the plastic camera adapter from the camera with the help of pliers; be careful to not stress the camera flex cable. Then you need to cut off the two protruding pieces (see 3.2) on the back of the plastic adapter; for this operation you can use nippers (see 3.3). Take the adapter (now is flat on the back as shown in 3.4) and insert it as before.
# Plug the ground module into its connector on the e-puck2; make the cable pass through the battery contact.
# First push the ground module within its slot in the body case, then slide in also the top side of the robot paying attention to the motors wires position: the back battery contact must remain between the body and motors wires and make sure the wires aren't stuck in the springs. Both the ground cable and camera flex cable must bend forming an "S" shape.
# Push the top all way down, then remount the spacers and plug in the battery. You're done.


:1. Go to the [http://www.oracle.com/technetwork/java/javase/downloads/jdk8-downloads-2133151.html Java download page] and download the <code>Mac OS X Java 8 SE Development Kit</code>. It is the .dmg file without the Demos and Samples.  
=Cliff sensor=
::For example: <code>jdk-8uXXX-macosx-x64.dmg</code>
The cliff module extends the capability of the groundsensor with two additional sensors placed in front of the wheels. One possible application is that the e-puck can now detect the end of a table and react accordingly. Moreover this module can be coupled with the automatic charger for the e-puck, that could let the robot autonomously charge itself when needed. The two spring contacts adapt only to the cliff module.
:2. Open the .dmg file downloaded, run the installer and follow the instructions to proceed with the installation of Java SDK.


:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/Java_mac.png <img width=500 src="http://projects.gctronic.com/epuck2/wiki_images/Java_mac.png">]</span><br/>
==Assembly==
:''Java download page''
<span class="plainlinks"><table><tr><td align="center">[1]</td><td align="center">[2]</td><td align="center">[3]</td><td align="center">[4.1]</td><td align="center">[4.2]</td></tr><tr><td>[http://www.gctronic.com/doc/images/cliff-mounting-1.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-1-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-2.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-2-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-3.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-3-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-4-1.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-4-1-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-4-2.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-4-2-small.jpg">]</td></tr><tr><td align="center">[5.1]</td><td align="center">[5.2]</td><td align="center">[6]</td><td align="center">[7]</td><td align="center">[8]</td></tr><tr><td>[http://www.gctronic.com/doc/images/cliff-mounting-5-1.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-5-1-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-5-2.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-5-2-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-6.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-6-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-7.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-7-small.jpg">]</td><td>[http://www.gctronic.com/doc/images/cliff-mounting-8.jpg <img height=200 src="http://www.gctronic.com/doc/images/cliff-mounting-8-small.jpg">]</td></tr></table></span>
# Unscrew the 3 screws, unmount the e-jumper (top piece where there is the speaker) and unscrew the 3 spacers
# Remove the pcb from the case body gently
# Detach the two parts, cliff and ground pcb
# Plug the ground module into its connector on the e-puck
# Attach the cliff module to the ground module being careful to leave the battery contact in the middle
# Push the ground module within its slot in the body case, the cliff module will remain external
# Once both the modules are aligned, push them down
# The modules will remain really close to the case bottom; once the modules are fitted remount the spacers, the e-jumper and the screws


===Eclipse_e-puck2===
==Electrical schema==
:1. Download the [http://projects.gctronic.com/epuck2/Eclipse_e-puck2/Eclipse_e-puck2_Mac_11_apr_2018.dmg Eclipse_e-puck2 package for Mac].
The circuit diagram of the e-puck cliff extension is available to the community on the following link [https://projects.gctronic.com/cliff-sensor/CliffSensorV1.0.pdf electrical schema].  
:2. Open the .dmg file downloaded and DragAndDrop the Eclipse_e-puck2.app into the Applications folder
::Note : You can place the Eclipse_e-puck2.app anywhere, as long as the full path to it doesn’t contain any space, if you don’t want it to be in Applications.
:3. You can create an Alias to Eclipse_e-puck2.app and place it anywhere if you want.


===First launch and Gatekeeper===
==Software==
It’s very likely that Gatekeeper (one of the protections of Mac OS) will prevent you to launch Eclipse_e-puck2.app because it isn’t signed from a known developer.<br>
===e-puck firmware===
If you can’t run the program because of a warning of the system, press <code>OK</code> and try to launch it by right clicking on it and choosing <code>open</code> in the contextual menu (may be slow to open the first time).<br>
Refers to the section [http://www.gctronic.com/doc/index.php/E-Puck#Standard_firmware E-Puck Standard firmware] for the firmware that need to be uploaded to the robot.
If <code>Unable to open "Eclipse_e-puck2.app" because this app comes from an unidentified developer.</code> or if <code>"Eclipse.app" is corrupted and cannot be opened. You should place this item in the Trash.</code> appears after executing the app the first time, it is needed to disable temporarily Gatekeeper.
Essentially the standard ''asercom'' demo (selector 3) released with the e-puck robot is extended in order to request and visualize 5 sensors values instead of 3 when issueing the ''m'' command; the sequence is: ground left, ground center, ground right, cliff right, cliff left. In order to enable the cliff sensors you need to ''define CLIFF_SENSORS'' in the ''asercom.c'' file in order to build the code parts related to this module.


To do so :
===e-puck demos===
To demonstrate the capabilities of the cliff sensors module here is an MPLAB project [https://projects.gctronic.com/cliff-sensor/Demo-cliff-autocharge.zip Demo-cliff-autocharge.zip] that contains two demos:
* selector 0: in this demo the robot is eventually piloted to the charger station autonomously after moving around for some time aovoiding obstacles; the demo is shown in the [http://www.gctronic.com/doc/index.php/Others_Extensions#Videos video section].<br/>
* selector 1: this is a cliff avoidance demo in which the robot is moved forward until it detects the end of the table and tries to avoid it moving back and rotating; the demo is shown in the [http://www.gctronic.com/doc/index.php/Others_Extensions#Videos video section].


:1. Go to <code>System Preferences->security and privacy->General</code> and authorize downloaded application from <code>Anywhere</code>.
===Extension firmware===
The ground sensor fimrware developed at EPFL (can be downloaded at the [http://www.e-puck.org http://www.e-puck.org] site from [http://www.e-puck.org/index.php?option=com_phocadownload&view=category&id=9:ground-sensors&Itemid=38 this page]) was extended to interact with the additional two sensors. The source code can be downloaded from [https://projects.gctronic.com/cliff-sensor/pic18_floor_sensor_c18-cliff.zip cliff-firmware]; it is an MPLAB project and the MPLAB C Compiler for PIC18 MCUs is needed to build the project.<br/>
The communication between the e-puck and the module is handled through I2C (address 0xC0) and the following registers are defined:
* 0x00: reflected light, left IR sensor - high byte
* 0x01: reflected light, left IR sensor - low byte
* 0x02: reflected light, center IR sensor - high byte
* 0x03: reflected light, center IR sensor - low byte
* 0x04: reflected light, right IR sensor - high byte
* 0x05: reflected light, right IR sensor - low byte
* 0x06: ambient light, left IR sensor - high byte
* 0x07: ambient light, left IR sensor - low byte
* 0x08: ambient light, center IR sensor - high byte
* 0x09: ambient light, center IR sensor - low byte
* 0x0A: ambient light, right IR sensor - high byte
* 0x0B: ambient light, right IR sensor - low byte
* 0x0C: software revision number
* 0x0D: reflected light, right cliff sensor - high byte
* 0x0E: reflected light, right cliff sensor - low byte
* 0x0F: reflected light, left cliff sensor - high byte
* 0x10: reflected light, left cliff sensor - low byte
* 0x11: ambient light, right cliff sensor - high byte
* 0x12: ambient light, right cliff sensor - low byte
* 0x13: ambient light, left cliff sensor - high byte
* 0x14: ambient light, left cliff sensor - low byte


::<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/security_tab_mac.png <img width=500 src="http://projects.gctronic.com/epuck2/wiki_images/security_tab_mac.png">]</span><br/>
===e-puck2 demos===
::''Security settings of Mac OS''
The same demo developed for the e-puck1 that let the robot autonomously reach the charging station and charge itself is available also for the e-puck2. You can find the source code in the following repository [https://github.com/e-puck2/e-puck2_cliff_autocharge https://github.com/e-puck2/e-puck2_cliff_autocharge].


::If you are on Mac OS Sierra or greater (greater or equal to Mac OS 10.12), you must type the following command on the terminal to make the option above appear.
==Images==
::<pre>sudo spctl --master-disable</pre>
Robot equipped with the cliff sensor: <br/>
:2. Now you can try to run the application and it should work.
<span class="plainlinks">[http://www.gctronic.com/doc/images/Cliff+charger.jpg <img width=300 src="http://www.gctronic.com/doc/images/Cliff+charger.jpg">]</span> <br/>
:3. If Eclipse opened successfully, it is time to reactivate Gatekeeper. Simply set back the setting of Gatekeeper.
::For the ones who needed to type a command to disable Gatekeeper, here is the command to reactivate it.
::<pre>sudo spctl --master-enable</pre>


This procedure is only needed the first time. After that Gatekeeper will remember your choice to let run this application and will not bother you anymore, as long as you use this application. If you re-download it, you will have to redo the procedure for Gatekeeper.
The robot can be easily moved to the charging station as shown in the following figure: <br/>
<span class="plainlinks">[http://www.gctronic.com/doc/images/Cliff-charging.jpg <img width=300 src="http://www.gctronic.com/doc/images/Cliff-charging.jpg">]</span> <br/>


'''Important things to avoid :'''
The following figure shows the two additional sensors (near the wheels) mounted on the cliff module and the three frontal sensors of the ground module: <br/>
:1. The path to the Eclipse_e-puck2.app must contain zero space.
<span class="plainlinks">[http://www.gctronic.com/doc/images/Cliff-zoom.jpg <img width=300 src="http://www.gctronic.com/doc/images/Cliff-zoom.jpg">]</span> <br/>
::Example :
::<code>/home/student/epfl_stuff/Eclipse_e-puck2</code> OK
::<code>/home/student/epfl stuff/Eclipse_e-puck2</code> NOT OK
:2. The file’s structure in the Eclipse_e-puck2.app must remain the same. It means no file inside this app must be moved to another place.


=Get the source code=
==Videos==
The source code is available in the git repo [https://github.com/e-puck2/e-puck2_main-processor https://github.com/e-puck2/e-puck2_main-processor].<br/>
{{#ev:youtube|7iFmLBng3qg}}
 
{{#ev:youtube|NYOcb1QoUTM}}
==Configuring the Debugger's settings==
Eclipse_e-puck2 contains everything needed to compile, program and debug the e-puck2.<br>
The only settings to configure with a new project are located under the '''Debug Configurations''' tab of Eclipse (you can also find it on '''Run->Debug Configurations''').
:<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/Debug_configuration.png <img width=231 src="http://projects.gctronic.com/epuck2/wiki_images/Debug_configuration.png">]</span><br/>
Once in the settings, select '''Generic Blackmagic Probe''' preset on the left panel. Then you need to configure two things :
 
#If you already have a project, under the '''main''' tab, you need to select which project to debug and the path to the compiled file. If the project has already been compiled, Eclipse must have indexed the binaries and you can list the project and the compiled files using respectively the '''Browse...''' and '''Search Project...''' buttons. If you do not already have a project, add a random name as the title which will act as a place holder, allowing you to apply the next configuration.
#Under the '''Startup''' tab, you need to replace the path to the serial port written on the first line of the text box by the one used by the GDB Server of your e-puck. [[#Finding the USB serial ports used | See how to find it]].
:* For Windows, it will be '''\\.\COMX''', X being the port number.
:* For Linux, it will be '''/dev/ttyACMX''', X being the port number
:* For Mac, it will be '''/dev/cu.usbmodemXXXXX''', XXXXX being the port number.
:* You can also type '''${COM_PORT}''' instead of the com port in order to use the variable COM_PORT for the debug configuration.<br>To change the value of this variable, go to the '''main''' tab again, click on the '''Variables...''' button and click on the '''Edit Variables...''' button. The opened window will let you edit the value of the variable.<br>Using the variable COM_PORT instead of the real com port in a debug configuration is useful if you have multiple debug configurations for example. If for one reason you need to change the com port to use, then you can simply edit the variable COM_PORT instead of editing the com port for each debug configuration
 
If you want to debug another project, you can change the settings of the '''Generic Blackmagic Probe''' preset or copy it into another preset and configure this one in order to have one preset by project.
Now you should be able to use the debugger with Eclipse.
 
==Creating a project==
===Basic standard project===
[https://github.com/e-puck2/e-puck2_main-processor.git e-puck2_main-processor] is the basic standard project containing all the libraries written for the e-puck2. Refer to the [http://www.gctronic.com/doc/index.php?title=e-puck2#Library Library] section to download the complete version.<br>
The basic standard project shows how to use the libraries and can be interfaced with [[#PC interface | e-puck2 monitor]].<br/>
This project can be added to Eclipse_e-puck2 by following the next steps:<br>
# Run Eclipse and then select '''File->New->Makefile Project with Existing Code'''.
# Next choose the project folder and set a project name (otherwise you can keep the one created by Eclipse). Choose '''None''' for the the toolchain.
# Click on the '''Finish''' button and the project is added to Eclipse.
 
===Project template===
The basic standard project can also be used as a library to build your own project on top of it.<br>
 
To accomplish that, you have to copy the folder '''Project_template''', contained in the e-puck2_main-processor project, where you want to place your project.<br>
You can of course rename the folder to the name you want.<br>
 
The next step is to edit the makefile of your project. Set the name of your project, write the updated path to the e-puck2_main-processor folder, and also rewrite the path to the .c files. Lastly, include the path for any desired .h files from other folders.<br>
All the .h files located next to the makefile are automatically included in the compilation. But if you need to place them into folders, you have to specify these folders in the makefile.
This makefile uses the main makefile of the e-puck2_main-processor project. This means you can add custom commands to the makefile but it should not interfere with the main makefile.
 
The result of the compilation will appear in a build folder in your project folder.
 
===Adding to Eclipse_epuck2===
#To add the project into Eclipse, you need to select '''File->New->Makefile Project with Existing Code'''.
#Next choose your project folder and set a project name. Choose '''None''' for the the toolchain.
#Click on the '''Finish''' button and the project is added to Eclipse.
#Rename the file '''Debug_project_template.launch''' contained in the project folder by the name you want for the debug configuration of your project.
#Go to '''Run->Debug Configurations...''' and select on the left your new debug configuration and set the project to debug and the path to the compiled file of the project ([[#Configuring the Debugger's settings |as explained in the chapter before]]). If there is nothing apering when you press '''Search Project...''' then you must enter the '''.elf''' file name by hand, which can be found in your project folder under a folder named '''build'''.
#Go to  '''Project->Properties->C/C++ General->Preprocessor Include Paths, Macros etc->Providers''' and Check '''CDT Cross GCC Built-in Compiler Settings'''.<br> Then in the textbox below, write '''arm-none-eabi-gcc ${FLAGS} -E -P -v -dD "${INPUTS}"'''.
#Create a linked folder inside your project that links to the e-puck2_main-processor library. This allows Eclipse to index the declarations and implementations of the functions and variables in the code of the library.
##Go to '''File->New->Folder'''.
##Check '''Advanced >>''' on the bottom.
##Choose '''Link to alternate location (Linked Folder)'''.
##Type '''PROJECT_LOC''' and then add to this path the path to the e-puck2_main-processor folder. For example '''PROJECT_LOC/../e-puck2_main-processor''' if the library is located as the same level as your project folder.
#Before you compile, make sure the robot is turned on, and in addition make sure that the Makefile, has a capital M in the front.
#After you compile the project and if it succeeded, select the project root folder and go to '''Project->C/C++ Index->Rebuild''' to rebuild the index. (We need to have compiled at least one time in order to let Eclipse find all the paths to the files used.)
 
You should now be able to use the project with Eclipse.
 
==Flashing the main microcontroller==
In order to update the firmware of the main microcontroller (STM32F407) you can either use Eclipse (as explained in section [http://www.gctronic.com/doc/index.php?title=e-puck2#Configuring_the_Debugger.27s_settings Configuring the Debugger settings]) or you can do it manually as explained in this section. The onboard programmer run a gdb server, so we can use gdb commands to upload a new firmware.<br/>
1. download the gdb init file [http://projects.gctronic.com/epuck2/mygdbinit mygdbinit] and place it in the same folder of the compiled firmware. This file has the following content:
<pre>target extended-remote \\.\COM72
monitor swdp_scan
attach 1
set mem inaccessible-by-default off
load</pre>
In this file you need to change the port to reflect the one of the <code>GDB server</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]).
 
2. issue the following command to start the upload
<pre>Windows: arm-none-eabi-gdb.exe --interpreter=mi -x mygdbinit firmware.elf
Linux/Mac: arm-none-eabi-gdb --interpreter=mi -x mygdbinit firmware.elf</pre>
In this command you need to change the name of the firmware with the one you have.<br/>
Moreover if the <code>PATH</code> variable is not set (see chapter [http://www.gctronic.com/doc/index.php?title=e-puck2#Configuring_the_PATH_variable Configuring the PATH variable]) you need to insert the absolute path to the debugger that you can find in the Eclipse package (see chapter [http://www.gctronic.com/doc/index.php?title=e-puck2#Installation_of_the_e-puck2_environment Installation of the e-puck2 environment]) inside the directory <code>Tools\gcc-arm-none-eabi-XXX\bin</code>.
 
When the upload is complete you'll see an output like in the following figure:<br/>
<span class="plain links">[http://projects.gctronic.com/epuck2/wiki_images/f407-flashing.png <img width=400 src="http://projects.gctronic.com/epuck2/wiki_images/f407-flashing.png">]</span><br/>
The final line should contain <code>".data",</code> , and it should all be enclosed at the end with <code>(gdb)</code>. You can then close the terminal window.
 
If you encounter some problem, try to unplug and plug again the USB cable and power cycle the robot, then retry.

Revision as of 10:11, 17 December 2021

Range and bearing


The board allows situated agents to communicate locally, obtaining at the same time both the range and the bearing of the emitter without the need of any centralized control or any external reference. Therefore, the board allows the robots to have an embodied, decentralized and scalable communication system. The system relies on infrared communications with frequency modulation and is composed of two interconnected modules for data and power measurement.

The documentation and hardware files are available in the following links:

You can find more information about this board in the following links: http://www.e-puck.org/index.php?option=com_content&view=article&id=35&Itemid=23.

The following table lists the I2C the registers map:

Address Read Write
0 1 if data available, 0 otherwise -
1 data MSB -
2 data LSB -
3 bearing MSB -
4 bearing LSB: double((MSB<<8)+LSB)*0.0001 to get angle in degrees -
5 range MSB -
6 range LSB -
7 max peak (adc reading) MSB -
8 max peak (adc reading) LSB -
9 sensor that received the data (between 0..11) -
12 - Set transmission power (communication range): between 0 (max range) and 255 (min range)
13 - data LSB (prepare)
14 - data MSB (send (MSB<<8)+LSB)
16 - 0 store light conditions (calibration)
17 - 1=onboard calculation, 0=host calculation

Firmware source code

The firmware code of the range and bearing extension is open source and is available as a git repository. To download the source code you need to install git on your system:

  • Windows: downlaod git from https://gitforwindows.org/ and follow the installation instructions (default configuration is ok)
  • Linux: issue the command sudo apt-get install git
  • Mac: issue the command brew install git

The source code can downloaded with the command: git clone https://github.com/gctronic/range_and_bearing_firmware.git
The command must be issued in Git bash on Windows, or in a terminal on Linux / Mac.

You can download the pre-built firmware in the following link range and bearing firmware (17.12.21).

e-puck 1

A simple MPLAB project was created to let start using these modules. With the selector it's possible to choose whether the robot is an emitter (selector in position 0) or a receiver (selector in position 1). The receiver will send the information (data, bearing, distance, sensor) through Bluetooth.

e-puck 2

The e-puck2 standard firmware contains examples usages of the range and bearing extension. When the selector is in position 4 then the robot is set to be a receiver, when in position 5 then the robot is both transmitter and receiver at the same time. In both demos the information received (data received, bearing, distance and sensor id) will be printed via Bluetooth.
You can download the pre-built firmware from e-puck2_main-processor_randb.elf; the source code is available from the repo https://github.com/e-puck2/e-puck2_main-processor.
Beware that the only communication channel available between the robot and the range and bearing extension is the I2C bus, the UART channel is not available with e-puck 2.

Ground sensors

The factory firmware of both the e-puck1 and e-puck2 supports the ground sensors extension: for e-puck1 refer to the section Standard firmware, for e-puck2 refer to section Factory firmware.

Once the robot is programmed with its factory firmware, you can get the values from the ground sensors through Bluetooth by putting the selector in position 3 and issueing the command m that will return 5 values, the first 3 values are related to the ground sensors (left, center, right), the last 2 values are related to the cliff extension (if available).
For more information about the Bluetooth connection refer to section Getting started (e-puck1) or Connecting to the Bluetooth (e-puck2).
For more information about the Bluetooth protocol refer to section Advanced sercom protocol.

If you couple the e-puck extension for Gumstix Overo with the ground sensor refer to the section http://www.gctronic.com/doc/index.php/Overo_Extension#Ground_sensor to have an example on how to read the sensor values.

You can find more information about the ground sensors extension module in the following link http://www.e-puck.org/index.php?option=com_content&view=article&id=17&Itemid=18.

Assembly for e-puck2

[1][2][3.1][3.2][3.3][3.4]
[4][5.1][5.2][5.3][5.4][6]
  1. Unscrew the 3 spacers and remove the battery.
  2. Remove the top side from the case body gently.
  3. Detach the plastic camera adapter from the camera with the help of pliers; be careful to not stress the camera flex cable. Then you need to cut off the two protruding pieces (see 3.2) on the back of the plastic adapter; for this operation you can use nippers (see 3.3). Take the adapter (now is flat on the back as shown in 3.4) and insert it as before.
  4. Plug the ground module into its connector on the e-puck2; make the cable pass through the battery contact.
  5. First push the ground module within its slot in the body case, then slide in also the top side of the robot paying attention to the motors wires position: the back battery contact must remain between the body and motors wires and make sure the wires aren't stuck in the springs. Both the ground cable and camera flex cable must bend forming an "S" shape.
  6. Push the top all way down, then remount the spacers and plug in the battery. You're done.

Cliff sensor

The cliff module extends the capability of the groundsensor with two additional sensors placed in front of the wheels. One possible application is that the e-puck can now detect the end of a table and react accordingly. Moreover this module can be coupled with the automatic charger for the e-puck, that could let the robot autonomously charge itself when needed. The two spring contacts adapt only to the cliff module.

Assembly

[1][2][3][4.1][4.2]
[5.1][5.2][6][7][8]
  1. Unscrew the 3 screws, unmount the e-jumper (top piece where there is the speaker) and unscrew the 3 spacers
  2. Remove the pcb from the case body gently
  3. Detach the two parts, cliff and ground pcb
  4. Plug the ground module into its connector on the e-puck
  5. Attach the cliff module to the ground module being careful to leave the battery contact in the middle
  6. Push the ground module within its slot in the body case, the cliff module will remain external
  7. Once both the modules are aligned, push them down
  8. The modules will remain really close to the case bottom; once the modules are fitted remount the spacers, the e-jumper and the screws

Electrical schema

The circuit diagram of the e-puck cliff extension is available to the community on the following link electrical schema.

Software

e-puck firmware

Refers to the section E-Puck Standard firmware for the firmware that need to be uploaded to the robot. Essentially the standard asercom demo (selector 3) released with the e-puck robot is extended in order to request and visualize 5 sensors values instead of 3 when issueing the m command; the sequence is: ground left, ground center, ground right, cliff right, cliff left. In order to enable the cliff sensors you need to define CLIFF_SENSORS in the asercom.c file in order to build the code parts related to this module.

e-puck demos

To demonstrate the capabilities of the cliff sensors module here is an MPLAB project Demo-cliff-autocharge.zip that contains two demos:

  • selector 0: in this demo the robot is eventually piloted to the charger station autonomously after moving around for some time aovoiding obstacles; the demo is shown in the video section.
  • selector 1: this is a cliff avoidance demo in which the robot is moved forward until it detects the end of the table and tries to avoid it moving back and rotating; the demo is shown in the video section.

Extension firmware

The ground sensor fimrware developed at EPFL (can be downloaded at the http://www.e-puck.org site from this page) was extended to interact with the additional two sensors. The source code can be downloaded from cliff-firmware; it is an MPLAB project and the MPLAB C Compiler for PIC18 MCUs is needed to build the project.
The communication between the e-puck and the module is handled through I2C (address 0xC0) and the following registers are defined:

  • 0x00: reflected light, left IR sensor - high byte
  • 0x01: reflected light, left IR sensor - low byte
  • 0x02: reflected light, center IR sensor - high byte
  • 0x03: reflected light, center IR sensor - low byte
  • 0x04: reflected light, right IR sensor - high byte
  • 0x05: reflected light, right IR sensor - low byte
  • 0x06: ambient light, left IR sensor - high byte
  • 0x07: ambient light, left IR sensor - low byte
  • 0x08: ambient light, center IR sensor - high byte
  • 0x09: ambient light, center IR sensor - low byte
  • 0x0A: ambient light, right IR sensor - high byte
  • 0x0B: ambient light, right IR sensor - low byte
  • 0x0C: software revision number
  • 0x0D: reflected light, right cliff sensor - high byte
  • 0x0E: reflected light, right cliff sensor - low byte
  • 0x0F: reflected light, left cliff sensor - high byte
  • 0x10: reflected light, left cliff sensor - low byte
  • 0x11: ambient light, right cliff sensor - high byte
  • 0x12: ambient light, right cliff sensor - low byte
  • 0x13: ambient light, left cliff sensor - high byte
  • 0x14: ambient light, left cliff sensor - low byte

e-puck2 demos

The same demo developed for the e-puck1 that let the robot autonomously reach the charging station and charge itself is available also for the e-puck2. You can find the source code in the following repository https://github.com/e-puck2/e-puck2_cliff_autocharge.

Images

Robot equipped with the cliff sensor:

The robot can be easily moved to the charging station as shown in the following figure:

The following figure shows the two additional sensors (near the wheels) mounted on the cliff module and the three frontal sensors of the ground module:

Videos

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