e-puck2 PC side development

e-puck2 main wiki

1 Robot configuration

1.1 Bluetooth and USB

The robot is initially programmed with a firmware that includes many demos that could be started based on the selector position, refer to section Standard firmware for a list of all the demos and related description.
If the robot isn't programmed with the standard firmware or if you want to be sure to have the last firmware on the robot, you need to program it with the last standard firmware, refer to section Robot firmware update.
When you want to interact with the robot from the computer you need to place the selector in position 3 if you want to work with Bluetooth, or in position 8 if you want to work with USB. Both communication channels use the same protocol called asercom v2, refer to section Communication protocol: BT and USB for detailed information about this protocol.

1.2 WiFi

For working with the WiFi there is a special firmware, refer to section [].

2 Robot firmware update

Now and then there could be an official firmware update for the robot and it's important to keep the robot updated with the last firmware to get possibile new features, improvements and for bug fixes.
The onboard programmer run a GDB server, so we use GDB commands to upload a new firmware, for this reason a toolchain is needed to upload a new firmware to the robot.
The following steps explain how to update the robot firmware:
1. Download the package containing the required toolchain and script to program the robot: Windows, [Linux], [Mac OS]
2. Download the last version of the robot standard firmware
3. Extract the package and put the firmware file (with elf extension) inside the package directory; beware that only one elf file must be present inside this directory
4. Attach the USB cable and turn on the robot 5. Run the script:

Windows: double click program.bat

Linux:

Mac OS:

4 Webots

TBD

5 ROS

TBD