Micropython API reference

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

1 Functions list

epuck2 Module Functions

Method	Parameters	Description	Returns
epuck2.get_api_version()	None	Returns the current e-puck2 API version as a string.	str
epuck2.set_rgb()	led: int, red: int, green: int, blue: int	Set the intensity of a single RGB LED. Intensity ranges between 0 (off) and 100 (full on).	None
epuck2.set_all_rgb()	red2..blue8: int (12 arguments total)	Set the intensity for all four RGB LEDs (LED 2, 4, 6, 8) simultaneously. Intensity ranges between 0 and 100.	None
epuck2_set_leds()	led1,led3,led5,led7,body,front	Set the LEDs state (on, off).	None
epuck2.play_sound()	sound id	Play onboard sound.	None
epuck2.set_motors_speed()	left: int, right: int	Set the speed for the left and right motors.	None
epuck2.set_all_actuators()	actuators list (17 arguments total)	Set all actuators at once.	None
epuck2.get_proximity()	None	Get the values from the 8 proximity sensors. Higher values indicate a closer object.	list (of 8 integers)
epuck2.button_pressed()	None	Get button state.	True if pressed

2 Various

2.1 epuck2.get_api_version()

Returns the API version as a string (e.g., "02.01").

import epuck2
version = epuck2.get_api_version()
print(version) # Example output: "XX.XX"

3 LEDs

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

Set the intensity of one of the four RGB LEDs.

Parameters:

   * led (int): The index of the LED to control:
       * 0: LED 2 (Front Right)
       * 1: LED 4 (Back Right)
       * 2: LED 6 (Back Left)
       * 3: LED 8 (Front Left)
   * red, green, blue (int): Intensity from 0 (off) to 100 (full brightness).

Example:

# Set LED 1 (Index 0, LED 2) to half-intensity Blue
import epuck2
epuck2.set_rgb(0, 0, 0, 50)

3.2 epuck2.set_all_rgb(red2, green2, blue2, red4, green4, blue4, red6, green6, blue6, red8, green8, blue8)

Sets all four RGB LEDs simultaneously. The arguments are grouped in R, G, B for LEDs 2, 4, 6, and 8 in that order.

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:

# 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

4 Proximity sensors

4.1 epuck2.get_proximity()

Retrieves the proximity sensor readings.

Returns: A list of 8 integers.

Example:

import epuck2
prox_values = epuck2.get_proximity()
# prox_values[0] is sensor S0, prox_values[7] is sensor S7
print(prox_values)

5 Motors

5.1 epuck2.set_motors_speed(left, right)

Set the speed of the left and right motors.

Parameters:

   * left (int): Speed of the left motor. Range is **-1000** (reverse) to **1000** (forward).
   * right (int): Speed of the right motor. Range is **-1000** (reverse) to **1000** (forward).

Example:

# Move forward at full speed
import epuck2
epuck2.set_motors_speed(1000, 1000)

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