Once connected to the computer a serial port will be available that you can use to easily exchange data with the robot.Īll the extensions (ground sensors, range and bearing, RGB panel, gumstix and omnvision) are supported by the e-puck2 robot, this means that if you have some extensions for the e-puck1.x you can still use them also with e-puck2.įor more information about using the gumstix extension with e-puck2 robot refer to. Moreover you don't need anymore a special serial cable (with probably an RS232 to USB adapter) to be able to communicate with the robot, but you can use the USB cable. If you want you can still charge the battery with the e-puck1.x external charger, in case you have more than one battery. Secondly you don't need anymore to unplug and plugin the battery for charging, but instead you can charge the battery (up to 1 ampere) directly by connecting the USB cable.
#WEBOTS SERIAL PORT FREE#
On top of the e-puck2 you'll see a quite big free connector, this is used to attach the extensions board designed for the e-puck1.x that are fully compatible with the e-puck2 you must not connect the e-jumper in this connector. The components available on the e-jumper are integrated directly in the robot board.
#WEBOTS SERIAL PORT FULL#
The e-puck2 robot maintains full compatibility with its predecessor e-puck, but there are some improvements that you should be aware of.įirst of all the e-jumper, that is the small board that is attached on top of the e-puck1.x, isn't anymore needed in the e-puck2. Speaker: Diameter 13mm, power 500mW, 8 Ohm, DS-1389 or PSR12N08AK or similar.IMU: InvenSense MPU-9250, product-specification, register-map.ToF distance sensor: STM-VL53L0X, datasheet, user-manual.Optical sensors: Vishay Semiconductors Reflective Optical Sensor, datasheet.Camera: PixelPlus PO8030D CMOS image sensor, datasheet, no IR cut filterįrom about July 2019, the camera mounted on the e-puck2 robot is the Omnivision OV7670 CMOS image sensor, datasheet.Radio module: Espressif ESP32, datasheet, reference-manual.Programmer/debugger: STM32F413, datasheet, reference-manual.Main microcontroller: STM32F407, datasheet, reference-manual.This is the overall communication schema: Ground sensors, range and bearing, RGB panel, Gumstix extension, omnivision, your ownįree C compiler and IDE, Webots simulator, external debuggerįree C compiler and IDE, Webots simulator, onboard debugger (GDB) Infra-red receiver for standard remote control commands
#WEBOTS SERIAL PORT BLUETOOTH#
RS232 and Bluetooth 2.0 for connection and programming Speaker capable of playing WAV or tone soundsĤ omni-directional microhpones (digital) for sound localizationĨ red LEDs around the robot, green body light, 1 strong red LED in frontĤ red LEDs and 4 RGB LEDs around the robot, green light, 1 strong red LED in front VGA color camera typical use: 52x39 or 480x1ģ omni-directional microphones for sound localization Transparent plastic body supporting PCBs, battery and motorsĨ infra-red sensors measuring ambient light and proximity of objects up to 6 cmįront real distance sensor, Time of fight (ToF), up to 2 meter.ģD accelerometer, 3D gyro, 3D magnetometer Same battery USB charging, recharging time about 2.5h.ġ6-bit dsPIC30F6014A 60MHz (15 MIPS), DSP core for signal processingģ2-bit STM32F407 168 MHz (210 DMIPS), DSP and FPU, DMAĢ stepper motors with a 50:1 reduction gear 20 steps per revolution about 0.13 mm resolution LiIPo rechargeable battery (external charger), 1800 mAh.Ībout 3 hours autonomy. Same form factor: 70 mm diameter, 45 mm, 130 g The e-puck2 robot maintains full compatibility with its predecessor e-puck (e-puck HWRev 1.3 is considered in the following table):
The following figures show the main components offered by the e-puck2 robot and where they are physically placed: 2.7 Installing the dependencies for firmwares updates.1.4 Migrating from e-puck1.x to e-puck2.
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