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Lecture
Slides
Mechatronics for Swarm Robotics
Extended e-puck introduction
Recommended Documentation
F. Mondada, M. Bonani, A. Guignard, S. Magnenat, C. Studer, and D. Floreano. 2005.
Superlinear Physical Performances in a SWARM-BOT.
In 8th European Conference on Artificial Life (ECAL'2005), pages 282-291, 2005. PDF
F. Mondada, L. Gambardella, D. Floreano, and M. Dorigo. 2005.
SWARM-BOTS: Physical Interactions in Collective Robotics.
Robotics & Automation Magazine, 12(2):21-28, 2005. june 2005, PDF
Francesco Mondada,
Introduction to the e-puck robot.
PDF
Francesco Mondada.
e-Puck Robot Schematics and layout
PDF
EPFL,
e-puck Mini Doc.
PDF
Additional Information
on the e-puck
Websites where to
find documentation:
www.e-puck.org
www.gctronic.com/products/e-puck/
Important and useful
programs to download (also listed in
http://www.gctronic.com/products/e-puck/links):
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TUTORIALS
Tutorial for
programming the e-puck robot using the Bootloader via Bluetooth
www.e-puck.org
->Download -> Documentation
PROGRAMMING
To program in C
the robot you can use the integrated development environment (IDE) of
the microcontroller of e-puck.
Basically you
need 3 parts: the IDE for editing, the C compiler, and the downloader.
MPLAB IDE:
www.microchip.com
->Products ->Development Tools -> MPLAB IDE
The C compiler related to MPLAB is the MPLAB C30 (free student edition
available to download):
www.microchip.com
->Products ->Development Tools -> MPLAB C30
The tiny downloader:
www.etc.ugal.ro/cchiculita/software/picbootloader.htm
SIMULATION
The STD version
of Webots is intended to support fully the e-puck. From simulation, to
compiling and download. In the near it will include future graphic
programming as well.
For the first
demos, you can download the evaluation version (free) of Webots:
www.cyberbotics.com/products/webots/download.html
Purchasing the
STD version you can reprogram the simulated robot and remote control the
real robot.
EXAMPLE CODE
A nice demo to
start with: (collection from SWIS, LIS and ASL labs): demoGCtronic.hex,
demoGCtronic.zip
www.gctronic.com/products/e-puck/links
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Example
With the mode
selector it’s possible to activate reactions from acceleration or sound;
run obstacle avoidance or wall follow; communicate with a host PC to
show all the sensors data including VGA camera.
There are
software examples also on
www.e-puck.org:
www.e-puck.org
->
Download -> Software -> Library
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