Latest revision as of 11:02, 27 November 2025

The following figures show the main components offered by the e-puck2 robot and where they are physically placed:

1 Functions Summary

epuck2 Module Functions
Method	Parameters	Description	Returns
`epuck2.get_api_version()`	None	Returns the current e-puck2 API version.	`str`
`epuck2.set_rgb()`	`led, r, g, b`	Set a single RGB LED (LED 2, 4, 6, or 8).	`None`
`epuck2.set_all_rgb()`	`r2, g2, b2 ... r8, g8, b8`	Set all four RGB LEDs at once (12 params).	`None`
`epuck2.set_leds()`	`bitmask: int`	Set the standard Red LEDs using a bitmask.	`None`
`epuck2.play_sound()`	`sound_id: int`	Play an onboard sound effect.	`None`
`epuck2.set_motors_speed()`	`left, right`	Set motor speeds (-1000 to 1000).	`None`
`epuck2.set_all_actuators()`	`list`	Set all actuators (motors, LEDs, sound) at once.	`None`
`epuck2.get_proximity()`	None	Get values from the 8 IR proximity sensors.	`list[8]`
`epuck2.get_distance()`	None	Get ToF distance in mm.	`int`
`epuck2.get_mic_volume()`	None	Get volume from the 4 microphones.	`list[4]`
`epuck2.get_acc_raw()`	None	Get accelerometer raw axes (X, Y, Z).	`list[3]`
`epuck2.get_gyro_raw()`	None	Get gyroscope raw axes (X, Y, Z).	`list[3]`
`epuck2.get_battery()`	None	Get raw battery level.	`int`
`epuck2.get_selector()`	None	Get rotary selector position (0-15).	`int`
`epuck2.button_pressed()`	None	Get user button state.	`bool`
`epuck2.sd_available()`	None	Check if Micro SD card is present.	`bool`
`epuck2.get_tv_remote()`	None	Get IR remote data (RC5).	`int`
`epuck2.get_all_sensors()`	None	Get all sensor data in one call.	`list[49]`

2 General System

2.1 `epuck2.get_api_version()`

Returns the API version as a string (e.g., "XX.XX").

import epuck2
print(epuck2.get_api_version())

2.2 `epuck2.get_battery()`

Get the raw battery voltage value.

Returns: Integer representing the raw battery level.

2.3 `epuck2.get_selector()`

Get the position of the physical rotary selector switch on top of the robot.

Returns: Integer between 0 and 15.

2.4 `epuck2.button_pressed()`

Check the state of the user button.

Returns: True if pressed, False otherwise.

2.5 `epuck2.sd_available()`

Check if a Micro SD card is inserted and mountable.

Returns: True if available, False otherwise.

3 Actuators (Motors, LEDs, Sound)

3.1 `epuck2.set_motors_speed(left, right)`

Set the speed of the left and right motors.

Parameters:

left (int): Speed of left motor (-1000 to 1000).
right (int): Speed of right motor (-1000 to 1000).

import epuck2
epuck2.set_motors_speed(500, -500) # Spin in place

3.2 `epuck2.set_leds(value)`

Set the state (on, off) of the standard red LEDs using a bitmask integer.

Parameters:

value (int):
- Bit 0: LED 1
- Bit 1: LED 3
- Bit 2: LED 5
- Bit 3: LED 7
- Bit 4: Body LED
- Bit 5: Front LED

# Turn on LED 1 (1) and Front LED (32) -> 1 + 32 = 33 (0x21)
epuck2.set_leds(33)

3.3 `epuck2.set_rgb(led, red, green, blue)`

Set the intensity of a specific RGB LED.

Parameters:

led (int): 0=LED2, 1=LED4, 2=LED6, 3=LED8.
red, green, blue (int): Intensity 0-100.

# Set LED 2 (Index 0) to half-intensity blue
import epuck2
epuck2.set_rgb(0, 0, 0, 50)

3.4 `epuck2.set_all_rgb(r2, g2, b2, ... r8, g8, b8)`

Set all four RGB LEDs simultaneously.

Parameters: 12 integers (0-100) representing R, G, B for LED 2, 4, 6, and 8 respectively.

# Set LED 2 to Red (100, 0, 0) and LED 4 to Green (0, 100, 0). Other LEDs are off.
import epuck2
epuck2.set_all_rgb(100, 0, 0,  # LED 2
                   0, 100, 0,  # LED 4
                   0, 0, 0,    # LED 6
                   0, 0, 0)    # LED 8

3.5 `epuck2.play_sound(id)`

Play onboard sound.

Parameters:

id (int):
- 1: Mario
- 2: Underworld
- 4: Star Wars
- 8: 4KHz Tone
- 16: 10KHz Tone
- 32: Stop Sound

4 Sensors

4.1 `epuck2.get_proximity()`

Get the proximity sensor values. Higher value = closer object.

Returns: List of 8 integers (Prox0 to Prox7).

import epuck2
prox_values = epuck2.get_proximity()
# prox_values[0] is sensor Prox0, prox_values[7] is sensor Prox7
print(prox_values)

4.2 `epuck2.get_distance()`

Get distance from the front Time of Flight (ToF) sensor.

Returns: Integer in millimeters (0 to 2000).

4.3 `epuck2.get_mic_volume()`

Get microphone volume levels [0..4095].

Returns: List of 4 integers: [Mic0 (right), Mic1 (left), Mic2 (back), Mic3 (front)].

4.4 `epuck2.get_acc_raw()`

Get raw accelerometer values (±2g).

Returns: List of 3 integers: [X, Y, Z]. Range [-1500..1500].

4.5 `epuck2.get_gyro_raw()`

Get raw gyroscope values (±250dps).

Returns: List of 3 integers: [X, Y, Z]. Range [-32768..32767].

4.6 `epuck2.get_tv_remote()`

Get the TV remote data (RC5 protocol).

Returns: Integer data field.

5 Advanced bulk functions

5.1 `epuck2.set_all_actuators(args...)`

Set all actuators in one call. Requires 17 arguments.

Arg 0: Settings:
- bit0: 1=calibrate IR proximity sensors
- bit1: 0=disable onboard obstacle avoidance; 1=enable onboard obstacle avoidance (not implemented yet)
- bit2: 0=set motors speed; 1=set motors steps (position)
Arg 1-2: Left Motor, Right Motor
Arg 3: Standard LEDs bitmask
- Bit 0: LED 1
- Bit 1: LED 3
- Bit 2: LED 5
- Bit 3: LED 7
- Bit 4: Body LED
- Bit 5: Front LED
Arg 4-15: RGB LEDs (R,G,B for LED 2,4,6,8)
Arg 16: Sound ID
- 1: Mario
- 2: Underworld
- 4: Star Wars
- 8: 4KHz Tone
- 16: 10KHz Tone
- 32: Stop Sound

5.2 `epuck2.get_all_sensors()`

Get all sensors values at once. Returns a list of 49 elements:

Idx	Name	Description
0-2	Accel X, Y, Z	Raw values between -1500 and 1500, resolution is +-2g
3	Acceleration magnitude	Between 0.0 and about 2600.0 (~3.46 g)
4	Orientation	between 0.0 and 360.0 degrees
5	Inclination	between 0.0 and 90.0 degrees (when tilted in any direction)
6-8	Gyro X, Y, Z	Raw values between -32768 and 32767, resolution is +-250dps
9-11	Magnetometer	X, Y, Z, range is +-4912.0 uT (magnetic flux density expressed in micro Tesla)
12	Temperature	Celsius
13-20	Proximity	Proximity IR sensors 0-7, between 0 (no objects detected) and 4095 (object near the sensor)
21-28	Ambient	Ambient Light 0-7, between 0 (strong light) and 4095 (dark)
29	Distance	ToF (mm)
30-33	Mics	Volume 0-3 between 0 and 4095
34-35	Motors steps	Left, Right Motor steps (1000 steps per wheel revolution)
36	Battery	Raw value
37	Micro SD	State, 1 if the micro SD is present and can be read/write, 0 otherwise
38-40	Remote	Toggle, Address, Data (RC5 protocol)
41	Selector	Position 0-15
42-44	Ground Proximity (extension)	Sensors 0-2 between 0 (no surface at all or not reflective surface e.g. black) and 1023 (very reflective surface e.g. white)
45-47	Ground Ambient (extension)	Ambient 0-2 between 0 (strong light) and 1023 (dark)
48	Button	1=pressed, 0=released

Micropython API reference: Difference between revisions

Latest revision as of 11:02, 27 November 2025

Contents

1 Functions Summary

2 General System

2.1 `epuck2.get_api_version()`

2.2 `epuck2.get_battery()`

2.3 `epuck2.get_selector()`

2.4 `epuck2.button_pressed()`

2.5 `epuck2.sd_available()`

3 Actuators (Motors, LEDs, Sound)

3.1 `epuck2.set_motors_speed(left, right)`

3.2 `epuck2.set_leds(value)`

3.3 `epuck2.set_rgb(led, red, green, blue)`

3.4 `epuck2.set_all_rgb(r2, g2, b2, ... r8, g8, b8)`

3.5 `epuck2.play_sound(id)`

4 Sensors

4.1 `epuck2.get_proximity()`

4.2 `epuck2.get_distance()`

4.3 `epuck2.get_mic_volume()`

4.4 `epuck2.get_acc_raw()`

4.5 `epuck2.get_gyro_raw()`

4.6 `epuck2.get_tv_remote()`

5 Advanced bulk functions

5.1 `epuck2.set_all_actuators(args...)`

5.2 `epuck2.get_all_sensors()`

Navigation menu

@@ Line 2: / Line 2: @@
 <span class="plainlinks">[https://projects.gctronic.com/epuck2/wiki_images/epuck2-components-position.png <img width=800 src="https://projects.gctronic.com/epuck2/wiki_images/epuck2-components-position_small.png">]</span><br/>
-= Functions list=
+= Functions Summary =
 {| class="wikitable sortable"
 |+ epuck2 Module Functions
@@ Line 9: / Line 9: @@
 | <code>epuck2.get_api_version()</code>
 | None
-| Returns the current e-puck2 API version as a string.
+| Returns the current e-puck2 API version.
 | <code>str</code>
 |-
 | <code>epuck2.set_rgb()</code>
-| <code>led: int</code>, <code>red: int</code>, <code>green: int</code>, <code>blue: int</code>
+| <code>led, r, g, b</code>
-| Set the intensity of a single RGB LED. Intensity ranges between '''0''' (off) and '''100''' (full on).
+| Set a single RGB LED (LED 2, 4, 6, or 8).
 | <code>None</code>
 |-
 | <code>epuck2.set_all_rgb()</code>
-| <code>red2..blue8: int</code> (12 arguments total)
+| <code>r2, g2, b2 ... r8, g8, b8</code>
-| Set the intensity for all four RGB LEDs (LED 2, 4, 6, 8) simultaneously. Intensity ranges between '''0''' and '''100'''.
+| Set all four RGB LEDs at once (12 params).
+| <code>None</code>
+|-
+| <code>epuck2.set_leds()</code>
+| <code>bitmask: int</code>
+| Set the standard Red LEDs using a bitmask.
+| <code>None</code>
+|-
+| <code>epuck2.play_sound()</code>
+| <code>sound_id: int</code>
+| Play an onboard sound effect.
+| <code>None</code>
+|-
+| <code>epuck2.set_motors_speed()</code>
+| <code>left, right</code>
+| Set motor speeds (-1000 to 1000).
+| <code>None</code>
+|-
+| <code>epuck2.set_all_actuators()</code>
+| <code>list</code>
+| Set all actuators (motors, LEDs, sound) at once.
 | <code>None</code>
 |-
 | <code>epuck2.get_proximity()</code>
 | None
-| Get the values from the 8 proximity sensors. Higher values indicate a closer object.
+| Get values from the 8 IR proximity sensors.
-| <code>list</code> (of 8 integers)
+| <code>list[8]</code>
+|-
+| <code>epuck2.get_distance()</code>
+| None
+| Get ToF distance in mm.
+| <code>int</code>
 |-
-| <code>epuck2.set_motors_speed()</code>
+| <code>epuck2.get_mic_volume()</code>
-| <code>left: int</code>, <code>right: int</code>
+| None
-| Set the speed for the left and right motors.
+| Get volume from the 4 microphones.
-| <code>None</code>
+| <code>list[4]</code>
+|-
+| <code>epuck2.get_acc_raw()</code>
+| None
+| Get accelerometer raw axes (X, Y, Z).
+| <code>list[3]</code>
+|-
+| <code>epuck2.get_gyro_raw()</code>
+| None
+| Get gyroscope raw axes (X, Y, Z).
+| <code>list[3]</code>
+|-
+| <code>epuck2.get_battery()</code>
+| None
+| Get raw battery level.
+| <code>int</code>
+|-
+| <code>epuck2.get_selector()</code>
+| None
+| Get rotary selector position (0-15).
+| <code>int</code>
+|-
+| <code>epuck2.button_pressed()</code>
+| None
+| Get user button state.
+| <code>bool</code>
+|-
+| <code>epuck2.sd_available()</code>
+| None
+| Check if Micro SD card is present.
+| <code>bool</code>
+|-
+| <code>epuck2.get_tv_remote()</code>
+| None
+| Get IR remote data (RC5).
+| <code>int</code>
+|-
+| <code>epuck2.get_all_sensors()</code>
+| None
+| Get all sensor data in one call.
+| <code>list[49]</code>
 |}
-= Various =
+= General System =
 == <code>epuck2.get_api_version()</code> ==
-Returns the API version as a string (e.g., "02.01").
+Returns the API version as a string (e.g., "XX.XX").
 <syntaxhighlight lang="Python">
 import epuck2
-version = epuck2.get_api_version()
+print(epuck2.get_api_version())
-print(version) # Example output: "XX.XX"
+</syntaxhighlight>
+== <code>epuck2.get_battery()</code> ==
+Get the raw battery voltage value.
+'''Returns:''' Integer representing the raw battery level.
+== <code>epuck2.get_selector()</code> ==
+Get the position of the physical rotary selector switch on top of the robot.
+'''Returns:''' Integer between '''0''' and '''15'''.
+== <code>epuck2.button_pressed()</code> ==
+Check the state of the user button.
+'''Returns:''' <code>True</code> if pressed, <code>False</code> otherwise.
+== <code>epuck2.sd_available()</code> ==
+Check if a Micro SD card is inserted and mountable.
+'''Returns:''' <code>True</code> if available, <code>False</code> otherwise.
+= Actuators (Motors, LEDs, Sound) =
+== <code>epuck2.set_motors_speed(left, right)</code> ==
+Set the speed of the left and right motors.
+'''Parameters:'''
+* <code>left</code> (<code>int</code>): Speed of left motor ('''-1000''' to '''1000''').
+* <code>right</code> (<code>int</code>): Speed of right motor ('''-1000''' to '''1000''').
+<syntaxhighlight lang="python">
+import epuck2
+epuck2.set_motors_speed(500, -500) # Spin in place
+</syntaxhighlight>
+== <code>epuck2.set_leds(value)</code> ==
+Set the state (on, off) of the standard red LEDs using a bitmask integer.
+'''Parameters:'''
+* <code>value</code> (<code>int</code>):
+** Bit 0: LED 1
+** Bit 1: LED 3
+** Bit 2: LED 5
+** Bit 3: LED 7
+** Bit 4: Body LED
+** Bit 5: Front LED
+<syntaxhighlight lang="python">
+# Turn on LED 1 (1) and Front LED (32) -> 1 + 32 = 33 (0x21)
+epuck2.set_leds(33)
 </syntaxhighlight>
-= LEDs =
 == <code>epuck2.set_rgb(led, red, green, blue)</code> ==
-Set the intensity of one of the four RGB LEDs.
+Set the intensity of a specific RGB LED.
 '''Parameters:'''
-    * <code>led</code> (<code>int</code>): The index of the LED to control:
+* <code>led</code> (<code>int</code>): 0=LED2, 1=LED4, 2=LED6, 3=LED8.
-        * <code>0</code>: LED 2 (Front Right)
+* <code>red, green, blue</code> (<code>int</code>): Intensity 0-100.
-        * <code>1</code>: LED 4 (Back Right)
-        * <code>2</code>: LED 6 (Back Left)
-        * <code>3</code>: LED 8 (Front Left)
-    * <code>red</code>, <code>green</code>, <code>blue</code> (<code>int</code>): Intensity from '''0''' (off) to '''100''' (full brightness).
-'''Example:'''
 <syntaxhighlight lang="python">
-# Set LED 1 (Index 0, LED 2) to half-intensity Blue
+# Set LED 2 (Index 0) to half-intensity blue
 import epuck2
 epuck2.set_rgb(0, 0, 0, 50)
 </syntaxhighlight>
-== <code>epuck2.set_all_rgb(red2, green2, blue2, red4, green4, blue4, red6, green6, blue6, red8, green8, blue8)</code> ==
+== <code>epuck2.set_all_rgb(r2, g2, b2, ... r8, g8, b8)</code> ==
-Sets all four RGB LEDs simultaneously. The arguments are grouped in R, G, B for LEDs 2, 4, 6, and 8 in that order.
+Set all four RGB LEDs simultaneously.
-'''Parameters:''' 12 integers representing the R, G, B values for LED 2, LED 4, LED 6, and LED 8, respectively. All values are in the range '''0''' to '''100'''.
-'''Example:'''
+'''Parameters:''' 12 integers (0-100) representing R, G, B for LED 2, 4, 6, and 8 respectively.
 <syntaxhighlight lang="python">
 # Set LED 2 to Red (100, 0, 0) and LED 4 to Green (0, 100, 0). Other LEDs are off.
@@ Line 78: / Line 184: @@
 </syntaxhighlight>
-= Proximity sensors =
+== <code>epuck2.play_sound(id)</code> ==
+Play onboard sound.
+'''Parameters:'''
+* <code>id</code> (<code>int</code>):
+** 1: Mario
+** 2: Underworld
+** 4: Star Wars
+** 8: 4KHz Tone
+** 16: 10KHz Tone
+** 32: Stop Sound
+= Sensors =
 == <code>epuck2.get_proximity()</code> ==
-Retrieves the proximity sensor readings.
+Get the proximity sensor values. Higher value = closer object.
-'''Returns:''' A list of 8 integers.
-'''Example:'''
+'''Returns:''' List of 8 integers (Prox0 to Prox7).
 <syntaxhighlight lang="python">
 import epuck2
 prox_values = epuck2.get_proximity()
-# prox_values[0] is sensor S0, prox_values[7] is sensor S7
+# prox_values[0] is sensor Prox0, prox_values[7] is sensor Prox7
 print(prox_values)
 </syntaxhighlight>
-= Motors =
+== <code>epuck2.get_distance()</code> ==
-== <code>epuck2.set_motors_speed(left, right)</code> ==
+Get distance from the front Time of Flight (ToF) sensor.
-Set the speed of the left and right motors.
+'''Returns:''' Integer in millimeters (0 to 2000).
+== <code>epuck2.get_mic_volume()</code> ==
+Get microphone volume levels [0..4095].
+'''Returns:''' List of 4 integers: <code>[Mic0 (right), Mic1 (left), Mic2 (back), Mic3 (front)]</code>.
+== <code>epuck2.get_acc_raw()</code> ==
+Get raw accelerometer values (±2g).
+'''Returns:''' List of 3 integers: <code>[X, Y, Z]</code>. Range [-1500..1500].
+== <code>epuck2.get_gyro_raw()</code> ==
+Get raw gyroscope values (±250dps).
+'''Returns:''' List of 3 integers: <code>[X, Y, Z]</code>. Range [-32768..32767].
+== <code>epuck2.get_tv_remote()</code> ==
+Get the TV remote data (RC5 protocol).
+'''Returns:''' Integer data field.
-'''Parameters:'''
+= Advanced bulk functions =
-    * <code>left</code> (<code>int</code>): Speed of the left motor. Range is **-1000** (reverse) to **1000** (forward).
-    * <code>right</code> (<code>int</code>): Speed of the right motor. Range is **-1000** (reverse) to **1000** (forward).
-'''Example:'''
+== <code>epuck2.set_all_actuators(args...)</code> ==
-<syntaxhighlight lang="python">
+Set all actuators in one call. Requires 17 arguments.
-# Move forward at full speed
+* <code>Arg 0</code>: Settings:
-import epuck2
+** bit0: 1=calibrate IR proximity sensors
-epuck2.set_motors_speed(1000, 1000)
+** bit1: 0=disable onboard obstacle avoidance; 1=enable onboard obstacle avoidance (not implemented yet)
+** bit2: 0=set motors speed; 1=set motors steps (position)
+* <code>Arg 1-2</code>: Left Motor, Right Motor
+* <code>Arg 3</code>: Standard LEDs bitmask
+** Bit 0: LED 1
+** Bit 1: LED 3
+** Bit 2: LED 5
+** Bit 3: LED 7
+** Bit 4: Body LED
+** Bit 5: Front LED
+* <code>Arg 4-15</code>: RGB LEDs (R,G,B for LED 2,4,6,8)
+* <code>Arg 16</code>: Sound ID
+** 1: Mario
+** 2: Underworld
+** 4: Star Wars
+** 8: 4KHz Tone
+** 16: 10KHz Tone
+** 32: Stop Sound
-# Turn right in place
+== <code>epuck2.get_all_sensors()</code> ==
-import epuck2
+Get all sensors values at once. Returns a list of 49 elements:
-epuck2.set_motors_speed(500, -500)
+{| class="wikitable"
-</syntaxhighlight>
+! Idx !! Name !! Description
+|-
+| 0-2 || Accel X, Y, Z || Raw values between -1500 and 1500, resolution is +-2g
+|-
+| 3 || Acceleration magnitude <img width=70 src="https://projects.gctronic.com/epuck2/wiki_images/3dvector-magnitude.png"> || Between 0.0 and about 2600.0 (~3.46 g)
+|-
+| 4 || Orientation || between 0.0 and 360.0 degrees
+|-
+| 5 || Inclination || between 0.0 and 90.0 degrees (when tilted in any direction)
+|-
+| 6-8 || Gyro X, Y, Z || Raw values between -32768 and 32767, resolution is +-250dps
+|-
+| 9-11 || Magnetometer || X, Y, Z, range is +-4912.0 uT (magnetic flux density expressed in micro Tesla)
+|-
+| 12 || Temperature || Celsius
+|-
+| 13-20 || Proximity || Proximity IR sensors 0-7, between 0 (no objects detected) and 4095 (object near the sensor)
+|-
+| 21-28 || Ambient || Ambient Light 0-7, between 0 (strong light) and 4095 (dark)
+|-
+| 29 || Distance || ToF (mm)
+|-
+| 30-33 || Mics || Volume 0-3 between 0 and 4095
+|-
+| 34-35 || Motors steps || Left, Right Motor steps (1000 steps per wheel revolution)
+|-
+| 36 || Battery || Raw value
+|-
+| 37 || Micro SD || State, 1 if the micro SD is present and can be read/write, 0 otherwise
+|-
+| 38-40 || Remote || Toggle, Address, Data (RC5 protocol)
+|-
+| 41 || Selector || Position 0-15
+|-
+| 42-44 || Ground Proximity (extension) || Sensors 0-2 between 0 (no surface at all or not reflective surface e.g. black) and 1023 (very reflective surface e.g. white)
+|-
+| 45-47 || Ground Ambient (extension) || Ambient 0-2 between 0 (strong light) and 1023 (dark)
+|-
+| 48 || Button || 1=pressed, 0=released
+|}

Micropython API reference: Difference between revisions

Latest revision as of 11:02, 27 November 2025

1 Functions Summary

2 General System

2.1 epuck2.get_api_version()

2.2 epuck2.get_battery()

2.3 epuck2.get_selector()

2.4 epuck2.button_pressed()

2.5 epuck2.sd_available()

3 Actuators (Motors, LEDs, Sound)

3.1 epuck2.set_motors_speed(left, right)

3.2 epuck2.set_leds(value)

3.3 epuck2.set_rgb(led, red, green, blue)

3.4 epuck2.set_all_rgb(r2, g2, b2, ... r8, g8, b8)

3.5 epuck2.play_sound(id)

4 Sensors

4.1 epuck2.get_proximity()

4.2 epuck2.get_distance()

4.3 epuck2.get_mic_volume()

4.4 epuck2.get_acc_raw()

4.5 epuck2.get_gyro_raw()

4.6 epuck2.get_tv_remote()

5 Advanced bulk functions

5.1 epuck2.set_all_actuators(args...)

5.2 epuck2.get_all_sensors()

Navigation menu

Search

2.1 `epuck2.get_api_version()`

2.2 `epuck2.get_battery()`

2.3 `epuck2.get_selector()`

2.4 `epuck2.button_pressed()`

2.5 `epuck2.sd_available()`

3.1 `epuck2.set_motors_speed(left, right)`

3.2 `epuck2.set_leds(value)`

3.3 `epuck2.set_rgb(led, red, green, blue)`

3.4 `epuck2.set_all_rgb(r2, g2, b2, ... r8, g8, b8)`

3.5 `epuck2.play_sound(id)`

4.1 `epuck2.get_proximity()`

4.2 `epuck2.get_distance()`

4.3 `epuck2.get_mic_volume()`

4.4 `epuck2.get_acc_raw()`

4.5 `epuck2.get_gyro_raw()`

4.6 `epuck2.get_tv_remote()`

5.1 `epuck2.set_all_actuators(args...)`

5.2 `epuck2.get_all_sensors()`