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e-puck2 - Revision history
2026-07-25T06:08:25Z
Revision history for this page on the wiki
MediaWiki 1.41.0
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2954&oldid=prev
WikiSysop: /* Firmware update */
2026-04-22T06:57:52Z
<p><span dir="auto"><span class="autocomment">Firmware update</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 06:57, 22 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l373">Line 373:</td>
<td colspan="2" class="diff-lineno">Line 373:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>1. Download the package containing the required tools and script to program the robot: [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-windows_14.02.23.zip Windows], [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-macos_14.02.23.zip Linux / Mac]<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>1. Download the package containing the required tools and script to program the robot: [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-windows_14.02.23.zip Windows], [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-macos_14.02.23.zip Linux / Mac]<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!--2. Download the last version of the [https://projects.gctronic.com/epuck2/esp32-firmware_06.02.26_baa628d.zip radio module factory firmware (06.02.26)] (<font style="color:red">for Mac OS 14 and later versions, use [https://projects.gctronic.com/epuck2/esp32-firmware_11.12.18_mac.zip radio module factory firmware (11.12.18 mac)].</font>), or use another firmware (e.g. WiFi, BLE, your own). The firmware is composed by 3 files named <code>bootloader.bin</code>, <code>ESP32_E-Puck_2.bin</code> and <code>partitions_singleapp.bin</code><br/>--></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!--2. Download the last version of the [https://projects.gctronic.com/epuck2/esp32-firmware_06.02.26_baa628d.zip radio module factory firmware (06.02.26)] (<font style="color:red">for Mac OS 14 and later versions, use [https://projects.gctronic.com/epuck2/esp32-firmware_11.12.18_mac.zip radio module factory firmware (11.12.18 mac)].</font>), or use another firmware (e.g. WiFi, BLE, your own). The firmware is composed by 3 files named <code>bootloader.bin</code>, <code>ESP32_E-Puck_2.bin</code> and <code>partitions_singleapp.bin</code><br/>--></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>2. Download the last version of the radio module factory firmware or use another firmware (e.g. WiFi, BLE, your own). The firmware is composed by 3 files named <code>bootloader.bin</code>, <code>ESP32_E-Puck_2.bin</code> and <code>partitions_singleapp.bin</code><br/></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>2. Download the last version of the <ins style="font-weight: bold; text-decoration: none;">[https://www.gctronic.com/doc/index.php?title=e-puck2#Factory_firmware_2 </ins>radio module factory firmware<ins style="font-weight: bold; text-decoration: none;">] </ins>or use another firmware (e.g. WiFi, BLE, your own). The firmware is composed by 3 files named <code>bootloader.bin</code>, <code>ESP32_E-Puck_2.bin</code> and <code>partitions_singleapp.bin</code><br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>3. Extract the package and put the firmware files inside the package directory; beware that the name of the <code>.bin</code> files must be the same as indicated in step 2<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>3. Extract the package and put the firmware files inside the package directory; beware that the name of the <code>.bin</code> files must be the same as indicated in step 2<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>4. Attach the USB cable and turn on the robot<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>4. Attach the USB cable and turn on the robot<br/></div></td></tr>
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WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2953&oldid=prev
WikiSysop: /* Firmware update */
2026-04-22T06:56:49Z
<p><span dir="auto"><span class="autocomment">Firmware update</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 06:56, 22 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l372">Line 372:</td>
<td colspan="2" class="diff-lineno">Line 372:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In order to update the firmware of the ESP32 WiFi module you need to use a python script called <code>esptool</code> provided by [https://www.espressif.com/ Espressif] (manufacturer of the chip). This script was modified to work with the e-puck2 robot and is included in the provided package. The following steps explain how to update the radio module firmware:<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In order to update the firmware of the ESP32 WiFi module you need to use a python script called <code>esptool</code> provided by [https://www.espressif.com/ Espressif] (manufacturer of the chip). This script was modified to work with the e-puck2 robot and is included in the provided package. The following steps explain how to update the radio module firmware:<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>1. Download the package containing the required tools and script to program the robot: [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-windows_14.02.23.zip Windows], [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-macos_14.02.23.zip Linux / Mac]<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>1. Download the package containing the required tools and script to program the robot: [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-windows_14.02.23.zip Windows], [https://projects.gctronic.com/epuck2/e-puck2-prog-radio-macos_14.02.23.zip Linux / Mac]<br/></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>2. Download the last version of the [https://projects.gctronic.com/epuck2/esp32-firmware_06.02.26_baa628d.zip radio module factory firmware (06.02.26)] (<font style="color:red">for Mac OS 14 and later versions, use [https://projects.gctronic.com/epuck2/esp32-firmware_11.12.18_mac.zip radio module factory firmware (11.12.18 mac)].</font>), or use another firmware (e.g. WiFi, BLE, your own). The firmware is composed by 3 files named <code>bootloader.bin</code>, <code>ESP32_E-Puck_2.bin</code> and <code>partitions_singleapp.bin</code><br/></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"><!--</ins>2. Download the last version of the [https://projects.gctronic.com/epuck2/esp32-firmware_06.02.26_baa628d.zip radio module factory firmware (06.02.26)] (<font style="color:red">for Mac OS 14 and later versions, use [https://projects.gctronic.com/epuck2/esp32-firmware_11.12.18_mac.zip radio module factory firmware (11.12.18 mac)].</font>), <ins style="font-weight: bold; text-decoration: none;">or use another firmware (e.g. WiFi, BLE, your own). The firmware is composed by 3 files named <code>bootloader.bin</code>, <code>ESP32_E-Puck_2.bin</code> and <code>partitions_singleapp.bin</code><br/>--></ins></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">2. Download the last version of the radio module factory firmware </ins>or use another firmware (e.g. WiFi, BLE, your own). The firmware is composed by 3 files named <code>bootloader.bin</code>, <code>ESP32_E-Puck_2.bin</code> and <code>partitions_singleapp.bin</code><br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>3. Extract the package and put the firmware files inside the package directory; beware that the name of the <code>.bin</code> files must be the same as indicated in step 2<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>3. Extract the package and put the firmware files inside the package directory; beware that the name of the <code>.bin</code> files must be the same as indicated in step 2<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>4. Attach the USB cable and turn on the robot<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>4. Attach the USB cable and turn on the robot<br/></div></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2952&oldid=prev
WikiSysop: /* Factory firmware */
2026-04-22T06:53:38Z
<p><span dir="auto"><span class="autocomment">Factory firmware</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 06:53, 22 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l358">Line 358:</td>
<td colspan="2" class="diff-lineno">Line 358:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==Factory firmware==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==Factory firmware==</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module of the robot is initially programmed with a firmware that supports Bluetooth communication.<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module of the robot is initially programmed with a firmware that supports Bluetooth communication.<br/></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The pre-built firmware is available here [https://projects.gctronic.com/epuck2/esp32-firmware_06.02.<del style="font-weight: bold; text-decoration: none;">26_baa628d</del>.zip radio module factory firmware (06.02.26)].<br/></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>The pre-built firmware <ins style="font-weight: bold; text-decoration: none;">for e-puck 2.0/2.1 </ins>is available here [https://projects.gctronic.com/epuck2/esp32-firmware_06.02.<ins style="font-weight: bold; text-decoration: none;">26_baa628d_2.1</ins>.zip radio module factory firmware <ins style="font-weight: bold; text-decoration: none;">2.0/2.1 (06.02.26)].<br/></ins></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">The pre-built firmware for e-puck 2.2 is available here [https://projects.gctronic.com/epuck2/esp32-firmware_06.02.26_baa628d_2.2.zip radio module factory firmware 2.2 </ins>(06.02.26)].<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!--<font style="color:red">For <b>Mac OS 14</b>, use the following firmware [https://projects.gctronic.com/epuck2/esp32-firmware_11.12.18_mac.zip radio module factory firmware (11.12.18 mac 14)].</font><br/>--></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!--<font style="color:red">For <b>Mac OS 14</b>, use the following firmware [https://projects.gctronic.com/epuck2/esp32-firmware_11.12.18_mac.zip radio module factory firmware (11.12.18 mac 14)].</font><br/>--></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><font style="color:red">For <b>Mac OS 15 and later versions</b>, use the following firmware [https://projects.gctronic.com/epuck2/esp32-firmware-ble_30.01.25.zip radio module factory firmware (30.01.25 Mac OS 15 - BLE)].</font> For details on how to connect refer to the section [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Mac_OS_15_and_later_versions PC side development - Mac OS 15].</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><font style="color:red">For <b>Mac OS 15 and later versions</b>, use the following firmware [https://projects.gctronic.com/epuck2/esp32-firmware-ble_30.01.25.zip radio module factory firmware (30.01.25 Mac OS 15 - BLE)].</font> For details on how to connect refer to the section [https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#Mac_OS_15_and_later_versions PC side development - Mac OS 15].</div></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2946&oldid=prev
WikiSysop: /* Radio module */
2026-04-21T13:11:55Z
<p><span dir="auto"><span class="autocomment">Radio module</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 13:11, 21 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l351">Line 351:</td>
<td colspan="2" class="diff-lineno">Line 351:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Radio module=</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Radio module=</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module chosen for the e-puck is the new ESP32 chip from [https://www.espressif.com/ Espressif], integrating a dual core that run up to 240 MHz, 4 MB of flash and 520 KB of RAM. It supports WiFi standards 802.11 b/g/n (access point mode supported), Bluetooth and Bluetooth LE 4.2. It is the successor of the ESP8266 chip. The following figure shows the various peripherals available on the ESP32:<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module chosen for the e-puck is the new ESP32 chip from [https://www.espressif.com/ Espressif], integrating a dual core that run up to 240 MHz, 4 MB of flash and 520 KB of RAM. It supports WiFi standards 802.11 b/g/n (access point mode supported), Bluetooth and Bluetooth LE 4.2. It is the successor of the ESP8266 chip. The following figure shows the various peripherals available on the ESP32:<br/></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"><b></del>Starting from e-puck 2.2 the ESP32 chip integrates also additional 2MB of PSRAM. <del style="font-weight: bold; text-decoration: none;"></b></del><br/></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Starting from e-puck 2.2 the ESP32 chip integrates also additional 2MB of PSRAM.<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:esp32-peripherals.png|400px]]<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:esp32-peripherals.png|400px]]<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2945&oldid=prev
WikiSysop: /* Radio module */
2026-04-21T13:11:08Z
<p><span dir="auto"><span class="autocomment">Radio module</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 13:11, 21 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l351">Line 351:</td>
<td colspan="2" class="diff-lineno">Line 351:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Radio module=</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Radio module=</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module chosen for the e-puck is the new ESP32 chip from [https://www.espressif.com/ Espressif], integrating a dual core that run up to 240 MHz, 4 MB of flash and 520 KB of RAM. It supports WiFi standards 802.11 b/g/n (access point mode supported), Bluetooth and Bluetooth LE 4.2. It is the successor of the ESP8266 chip. The following figure shows the various peripherals available on the ESP32:<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module chosen for the e-puck is the new ESP32 chip from [https://www.espressif.com/ Espressif], integrating a dual core that run up to 240 MHz, 4 MB of flash and 520 KB of RAM. It supports WiFi standards 802.11 b/g/n (access point mode supported), Bluetooth and Bluetooth LE 4.2. It is the successor of the ESP8266 chip. The following figure shows the various peripherals available on the ESP32:<br/></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><b>Starting from e-puck 2.2 the ESP32 chip integrates also additional 2MB of PSRAM. </b></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><b>Starting from e-puck 2.2 the ESP32 chip integrates also additional 2MB of PSRAM. </b<ins style="font-weight: bold; text-decoration: none;">><br/</ins>></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:esp32-peripherals.png|400px]]<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:esp32-peripherals.png|400px]]<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2944&oldid=prev
WikiSysop: /* Radio module */
2026-04-21T13:10:55Z
<p><span dir="auto"><span class="autocomment">Radio module</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 13:10, 21 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l351">Line 351:</td>
<td colspan="2" class="diff-lineno">Line 351:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Radio module=</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Radio module=</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module chosen for the e-puck is the new ESP32 chip from [https://www.espressif.com/ Espressif], integrating a dual core that run up to 240 MHz, 4 MB of flash and 520 KB of RAM. It supports WiFi standards 802.11 b/g/n (access point mode supported), Bluetooth and Bluetooth LE 4.2. It is the successor of the ESP8266 chip. The following figure shows the various peripherals available on the ESP32:<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The radio module chosen for the e-puck is the new ESP32 chip from [https://www.espressif.com/ Espressif], integrating a dual core that run up to 240 MHz, 4 MB of flash and 520 KB of RAM. It supports WiFi standards 802.11 b/g/n (access point mode supported), Bluetooth and Bluetooth LE 4.2. It is the successor of the ESP8266 chip. The following figure shows the various peripherals available on the ESP32:<br/></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"><b>Starting from e-puck 2.2 the ESP32 chip integrates also additional 2MB of PSRAM. </b></ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:esp32-peripherals.png|400px]]<br/></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:esp32-peripherals.png|400px]]<br/></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2943&oldid=prev
WikiSysop: /* Documentation */
2026-04-21T13:09:32Z
<p><span dir="auto"><span class="autocomment">Documentation</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 13:09, 21 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l143">Line 143:</td>
<td colspan="2" class="diff-lineno">Line 143:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Optical sensors''': Vishay Semiconductors Reflective Optical Sensor, [https://projects.gctronic.com/epuck2/doc/tcrt1000.pdf datasheet]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Optical sensors''': Vishay Semiconductors Reflective Optical Sensor, [https://projects.gctronic.com/epuck2/doc/tcrt1000.pdf datasheet]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''ToF distance sensor''': STM-VL53L0X, [https://projects.gctronic.com/epuck2/doc/VL53L0X-Datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/VL53L0X-UserManual-API.pdf user-manual]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''ToF distance sensor''': STM-VL53L0X, [https://projects.gctronic.com/epuck2/doc/VL53L0X-Datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/VL53L0X-UserManual-API.pdf user-manual]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* '''IMU''': InvenSense MPU-9250, [https://projects.gctronic.com/epuck2/doc/MPU-9250-product-specification.pdf product-specification], [https://projects.gctronic.com/epuck2/doc/MPU-9250-Register-Map.pdf register-map]; starting from e-puck 2.2 MPU-9250 <del style="font-weight: bold; text-decoration: none;">is </del>substituted by TDK Invesense ICM20942, [https://projects.gctronic.com/epuck2/doc/ DS-000189-ICM-20948-v1.6.pdf datasheet]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* '''IMU''': InvenSense MPU-9250, [https://projects.gctronic.com/epuck2/doc/MPU-9250-product-specification.pdf product-specification], [https://projects.gctronic.com/epuck2/doc/MPU-9250-Register-Map.pdf register-map]; starting from e-puck 2.2 <ins style="font-weight: bold; text-decoration: none;">the </ins>MPU-9250 <ins style="font-weight: bold; text-decoration: none;">was </ins>substituted by TDK Invesense ICM20942, [https://projects.gctronic.com/epuck2/doc/DS-000189-ICM-20948-v1.6.pdf datasheet]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Motors''': [https://e-puck.gctronic.com/index.php?option=com_content&view=article&id=7&Itemid=9 details]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Motors''': [https://e-puck.gctronic.com/index.php?option=com_content&view=article&id=7&Itemid=9 details]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Speaker''': Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Speaker''': Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar</div></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2942&oldid=prev
WikiSysop: /* Documentation */
2026-04-21T13:08:38Z
<p><span dir="auto"><span class="autocomment">Documentation</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 13:08, 21 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l137">Line 137:</td>
<td colspan="2" class="diff-lineno">Line 137:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Main microcontroller''': STM32F407, [https://projects.gctronic.com/epuck2/doc/STM32F407xx_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F407_reference-manual.pdf reference-manual]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Main microcontroller''': STM32F407, [https://projects.gctronic.com/epuck2/doc/STM32F407xx_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F407_reference-manual.pdf reference-manual]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Programmer/debugger''': STM32F413, [https://projects.gctronic.com/epuck2/doc/STM32F413x_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F413_reference-manual.pdf reference-manual]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Programmer/debugger''': STM32F413, [https://projects.gctronic.com/epuck2/doc/STM32F413x_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F413_reference-manual.pdf reference-manual]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* '''Radio module''': Espressif ESP32, [https://projects.gctronic.com/epuck2/doc/esp32_datasheet_en.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/esp32_technical_reference_manual_en.pdf reference-manual]; starting from e-<del style="font-weight: bold; text-decoration: none;">puck2</del>.2 the ESP32 integrates 2MB PSRAM</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* '''Radio module''': Espressif ESP32, [https://projects.gctronic.com/epuck2/doc/esp32_datasheet_en.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/esp32_technical_reference_manual_en.pdf reference-manual]; starting from e-<ins style="font-weight: bold; text-decoration: none;">puck 2</ins>.2 the ESP32 integrates 2MB PSRAM</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Camera''': PixelPlus PO8030D CMOS image sensor, [https://projects.gctronic.com/E-Puck/docs/Camera/PO8030D.pdf datasheet], no IR cut filter</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Camera''': PixelPlus PO8030D CMOS image sensor, [https://projects.gctronic.com/E-Puck/docs/Camera/PO8030D.pdf datasheet], no IR cut filter</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>: From about July 2019, the camera mounted on the e-puck2 robot is the Omnivision OV7670 CMOS image sensor, [https://projects.gctronic.com/epuck2/doc/OV7670.pdf datasheet]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>: From about July 2019, the camera mounted on the e-puck2 robot is the Omnivision OV7670 CMOS image sensor, [https://projects.gctronic.com/epuck2/doc/OV7670.pdf datasheet]</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l143">Line 143:</td>
<td colspan="2" class="diff-lineno">Line 143:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Optical sensors''': Vishay Semiconductors Reflective Optical Sensor, [https://projects.gctronic.com/epuck2/doc/tcrt1000.pdf datasheet]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Optical sensors''': Vishay Semiconductors Reflective Optical Sensor, [https://projects.gctronic.com/epuck2/doc/tcrt1000.pdf datasheet]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''ToF distance sensor''': STM-VL53L0X, [https://projects.gctronic.com/epuck2/doc/VL53L0X-Datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/VL53L0X-UserManual-API.pdf user-manual]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''ToF distance sensor''': STM-VL53L0X, [https://projects.gctronic.com/epuck2/doc/VL53L0X-Datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/VL53L0X-UserManual-API.pdf user-manual]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* '''IMU''': InvenSense MPU-9250, [https://projects.gctronic.com/epuck2/doc/MPU-9250-product-specification.pdf product-specification], [https://projects.gctronic.com/epuck2/doc/MPU-9250-Register-Map.pdf register-map]; starting from e-<del style="font-weight: bold; text-decoration: none;">puck2</del>.2 MPU-9250 is substituted by TDK Invesense ICM20942, [https://projects.gctronic.com/epuck2/doc/ DS-000189-ICM-20948-v1.6.pdf datasheet]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* '''IMU''': InvenSense MPU-9250, [https://projects.gctronic.com/epuck2/doc/MPU-9250-product-specification.pdf product-specification], [https://projects.gctronic.com/epuck2/doc/MPU-9250-Register-Map.pdf register-map]; starting from e-<ins style="font-weight: bold; text-decoration: none;">puck 2</ins>.2 MPU-9250 is substituted by TDK Invesense ICM20942, [https://projects.gctronic.com/epuck2/doc/ DS-000189-ICM-20948-v1.6.pdf datasheet]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Motors''': [https://e-puck.gctronic.com/index.php?option=com_content&view=article&id=7&Itemid=9 details]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Motors''': [https://e-puck.gctronic.com/index.php?option=com_content&view=article&id=7&Itemid=9 details]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Speaker''': Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Speaker''': Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar</div></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2941&oldid=prev
WikiSysop: /* Documentation */
2026-04-21T13:06:53Z
<p><span dir="auto"><span class="autocomment">Documentation</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 13:06, 21 April 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l137">Line 137:</td>
<td colspan="2" class="diff-lineno">Line 137:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Main microcontroller''': STM32F407, [https://projects.gctronic.com/epuck2/doc/STM32F407xx_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F407_reference-manual.pdf reference-manual]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Main microcontroller''': STM32F407, [https://projects.gctronic.com/epuck2/doc/STM32F407xx_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F407_reference-manual.pdf reference-manual]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Programmer/debugger''': STM32F413, [https://projects.gctronic.com/epuck2/doc/STM32F413x_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F413_reference-manual.pdf reference-manual]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Programmer/debugger''': STM32F413, [https://projects.gctronic.com/epuck2/doc/STM32F413x_datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/STM32F413_reference-manual.pdf reference-manual]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* '''Radio module''': Espressif ESP32, [https://projects.gctronic.com/epuck2/doc/esp32_datasheet_en.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/esp32_technical_reference_manual_en.pdf reference-manual]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* '''Radio module''': Espressif ESP32, [https://projects.gctronic.com/epuck2/doc/esp32_datasheet_en.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/esp32_technical_reference_manual_en.pdf reference-manual]<ins style="font-weight: bold; text-decoration: none;">; starting from e-puck2.2 the ESP32 integrates 2MB PSRAM</ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Camera''': PixelPlus PO8030D CMOS image sensor, [https://projects.gctronic.com/E-Puck/docs/Camera/PO8030D.pdf datasheet], no IR cut filter</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Camera''': PixelPlus PO8030D CMOS image sensor, [https://projects.gctronic.com/E-Puck/docs/Camera/PO8030D.pdf datasheet], no IR cut filter</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>: From about July 2019, the camera mounted on the e-puck2 robot is the Omnivision OV7670 CMOS image sensor, [https://projects.gctronic.com/epuck2/doc/OV7670.pdf datasheet]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>: From about July 2019, the camera mounted on the e-puck2 robot is the Omnivision OV7670 CMOS image sensor, [https://projects.gctronic.com/epuck2/doc/OV7670.pdf datasheet]</div></td></tr>
<tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l143">Line 143:</td>
<td colspan="2" class="diff-lineno">Line 143:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Optical sensors''': Vishay Semiconductors Reflective Optical Sensor, [https://projects.gctronic.com/epuck2/doc/tcrt1000.pdf datasheet]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Optical sensors''': Vishay Semiconductors Reflective Optical Sensor, [https://projects.gctronic.com/epuck2/doc/tcrt1000.pdf datasheet]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''ToF distance sensor''': STM-VL53L0X, [https://projects.gctronic.com/epuck2/doc/VL53L0X-Datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/VL53L0X-UserManual-API.pdf user-manual]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''ToF distance sensor''': STM-VL53L0X, [https://projects.gctronic.com/epuck2/doc/VL53L0X-Datasheet.pdf datasheet], [https://projects.gctronic.com/epuck2/doc/VL53L0X-UserManual-API.pdf user-manual]</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* '''IMU''': InvenSense MPU-9250, [https://projects.gctronic.com/epuck2/doc/MPU-9250-product-specification.pdf product-specification], [https://projects.gctronic.com/epuck2/doc/MPU-9250-Register-Map.pdf register-map]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* '''IMU''': InvenSense MPU-9250, [https://projects.gctronic.com/epuck2/doc/MPU-9250-product-specification.pdf product-specification], [https://projects.gctronic.com/epuck2/doc/MPU-9250-Register-Map.pdf register-map<ins style="font-weight: bold; text-decoration: none;">]; starting from e-puck2.2 MPU-9250 is substituted by TDK Invesense ICM20942, [https://projects.gctronic.com/epuck2/doc/ DS-000189-ICM-20948-v1.6.pdf datasheet</ins>]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Motors''': [https://e-puck.gctronic.com/index.php?option=com_content&view=article&id=7&Itemid=9 details]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Motors''': [https://e-puck.gctronic.com/index.php?option=com_content&view=article&id=7&Itemid=9 details]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Speaker''': Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Speaker''': Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar</div></td></tr>
</table>
WikiSysop
http://www.gctronic.com/doc/index.php?title=e-puck2&diff=2836&oldid=prev
WikiSysop: /* Windows */
2026-02-19T09:14:48Z
<p><span dir="auto"><span class="autocomment">Windows</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 09:14, 19 February 2026</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l426">Line 426:</td>
<td colspan="2" class="diff-lineno">Line 426:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></tr></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></tr></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><tr></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><tr></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu1<del style="font-weight: bold; text-decoration: none;">.png</del>.png|250px]]</td></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu1.png|250px]]</td></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu2<del style="font-weight: bold; text-decoration: none;">.png</del>.png|250px]]</td></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu2.png|250px]]</td></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu3<del style="font-weight: bold; text-decoration: none;">.png</del>.png|250px]]</td></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu3.png|250px]]</td></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu4<del style="font-weight: bold; text-decoration: none;">.png</del>.png|250px]]</td></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><td>[[File:dfu4.png|250px]]</td></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></tr></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></tr></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></table></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></table></div></td></tr>
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