e-puck2 Mini Doc (Ver. 2.

0)
GCtronic
Electronics &
EPFL educational and research mini mobile robot Mechatronics

e-puck2 is the latest mini mobile robot developed by GCtronic and the Swiss Federal Institute of Technology in Lausanne (EPFL). This
is an evolution of the successful e-puck robot used in many research and educational institutes. Now with WiFi and USB link & charge.
e-puck2 is compatible with its predecessor but is powered by an STM32F4 microcontroller and features a larger number of sensors: IR
proximity, sound I/O, 9x IMU, ToF distance sensor, camera, uSD storage. The e-puck2 hardware and software is fully open source
giving low-level access to every electronic device and offering unlimited extension possibilities. A flourishing user community provides
software, documentation and discussion groups. The robot is a full system with USB hub, debugger/programmer, WiFi module.
Documentation and SW:
www.gctronic.com/doc/index.php/e-puck2
https://github.com//e-puck2/
www.e-puck2.org

WARNING !
!! Forcing the wheel to spin
will damage the motor !!

ON - OFF
- short => ON
- long (~1s) => OFF
Use the blue button
below near the right wheel:

USB CHARGE
Top OR side µSB
The 2 connectors share
the same lines. Please use
only one at a time.

First BT connection
Start with the robot OFF
Push esp32 button AND turn ON.
3 serial port created on PC. Use “UART”.

USB connection
Inserting the USB cable creates 2 ports to the programmer and (if ON) a port to the main processor.
Drivers and procedure on the wiki.

PROGRAMMING
To program in C the robot, you can use the Eclipse IDE prepared for e-puck2. With the IDE you edit, compile, debug, program.
- Eclipse IDE: links on the wiki for Windows, Mac OS, Linux
Without the IDE you can upload standard precompiled program with batch files. Links on the wiki

MONITOR
With the e-puck2 monitor you can see all the robot sensors and pilot it. You can link with USB or wireless.

SIMULATION
Webots supports e-puck2 for simulation and remote controlling. The sensors are well modeled in 3D and physics is simulated. To
crosscompile and download, simple commands are available. For the first demos, you can download the evaluation version (free) of
Webots. With the EDU version (~320 CHF) you can reprogram the simulated robot and remote control the real robot.
www.cyberbotics.com/products/webots/download.html

EXAMPLE CODE
Several demos are pre-programmed on the delivered robot. Also 2x µUSB
available on the wiki. Move the mode selector and push reset to 4x digital mic
start several demos, activating reactions from acceleration or Speaker
sound; run obstacle avoidance; communicate with a host PC to Micro SD
show all the sensors data including VGA camera. Prog &
IMU debug
The embedded software running on the e-puck is continuously ON/OFF
extended and managed under github. A snapshot is available. RC
Selector 4x red
ROBOT VERSIONS 4x RGB
e-puck2 is available since January 2018. Most scenarios and BT BLE WiFi
ToF dist.
demos are compatible with the previous version. The libraries
handle the use of the evolved actuators and sensors. 8x IR prox
CMOS Camera
Wheels with
stepper motor Li-Ion battery
1
LICENSE

e-puck2 Robot
Open Source Hardware License Version 2.0
January 2018
Copyright © GCtronic & Ecole Polytechnique Fédérale de Lausanne (EPFL)
Switzerland
Preamble

This Open Source Hardware License aims at the dissemination of the specifications necessary to build the e-puck2 robot, a mobile
robot developed by GCtronic Sagl, Lugano and the Ecole Polytechnique Fédérale de Lausanne ( "EPFL"), Switzerland.

1. Definitions

"License" shall mean this Open Source Hardware License.

"Specifications" shall mean the hardware specifications, printed circuit board designs, drawings, CAO files, list of components and
other artwork for building an e-puck2 mobile robot as released by GCtronic and EPFL and published on its web site (www.e-
puck2.org), from time to time.
"Robot" or "Robots" shall mean the e-puck mobile robot(s) built using the Specifications or any modification or derivation thereof.
"You" shall mean each licensee under this License.

2. Using the Specifications and Building Robots

You are hereby authorized to use the Specifications for any purpose.

You are further authorized to build Robot(s) based on the Specifications and distribute them, provided that you give to each purchaser
of Robot(s) a copy of this License along with a copy of the Specifications under the conditions specified in Section 3.1 herein.

You may design and develop a Robot based on modification you make to the Specifications. If you decide to distribute such a Robot,
you shall only do so provided that you give to each purchaser of such a Robot a copy of this License along with a copy of the modified
Specifications under the conditions specified in Sections 3.1 and 3.2 herein.

When referring to the Robot in any scientific publication, you shall make a clear reference to the e-puck Robot pages on GCtronic and
EPFL's Web site : www.e-puck2.org.

You will not be charged any royalties by GCtronic or EPFL for such use of the Specifications and/or building and distributing the
Robot(s) or the Specifications.

3. Copying, Distributing and Modifying the Specifications

3.1 You may copy and distribute verbatim copies of the Specifications as you receive them, in any medium. If you choose to do so (or
if you choose to distribute Robot(s) based on the Specifications), you shall only do so under the following conditions :

i) conspicuously and appropriately publish on each copy of the Specifications the following copyright notice and disclaimer of warranty
:

"Copyright © GCtronic & Ecole Polytechnique Fédérale de Lausanne (EPFL), Switzerland.

The specifications of the e-puck2 mobile robot are "open source hardware". You can redistribute them and/or modify them under the
terms of the e-puck2 Robot Open Source Hardware License as published by GCtronic & EPFL. You should have received a copy of
the EPFL e-puck Robot Open Source Hardware License along with these specifications; if not, write to the Ecole Polytechnique
Fédérale de Lausanne (EPFL), or GCtronic Sagl, 6900 Lugano, Switzerland.

These specifications are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied
warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. For more details, see the EPFL e-puck2 Robot Open
Source Hardware License. "

and
2
ii) give any other recipients of the Specification a copy of this License along with the Specifications

3.2 You may modify your copy of the Specifications or any portion thereof. You are not required under the terms of this License, to
distribute any of the modifications that you make to the Specifications. However, if you choose to distribute modified Specifications (or
to distribute Robot(s) based on modified Specifications), you shall only do so under the terms of Section 3.1 above and subject to all of
the following conditions :

i) you must cause the modified Specifications to carry prominent notices stating that you have changed the Specifications as well as
the date and details of such change;

and

ii) you must allow any modified Specifications that you distribute or publish, that in whole or in part contains or is derived from the
Specifications or any part, modification or derivation thereof, to be licensed as a whole at no charge by any third party under the terms
of this License.

The requirements of this Section 3.2 do not apply to works that are not derivatives of the Specifications (in the sense of the applicable
copyright law).

4. General

4.1 Save for the fair use or similar right granted under the applicable copyright law, you may not use copy, modify, sublicense, or
distribute the Specifications or Robots except as expressly provided under this License. Any attempt otherwise to use, copy, modify,
sublicense or distribute the Specifications is void, and will automatically terminate your rights under this License. However, parties who
have received copies, or rights, from you under this License will not have their licenses terminated so long as such parties remain in
full compliance.

4.2 You are not required to accept this License. However, nothing else grants you permission to use, copy, modify or distribute the
Specifications or its derivative works or Robots and save for the fair use or similar right granted under the applicable copyright law,
these actions are prohibited by law if you do not accept this License. Therefore, by using, copying, modifying or distributing the
Specifications (or any work based on the Specifications) or any Robots, you indicate your acceptance of this License to do so, and all
its terms and conditions for using, copying, distributing or modifying the Specifications or works based on it.

4.3 Each time you redistribute the Specifications, distributes any modifications of the Specifications, or distribute any Robot, the
recipient or purchaser automatically receives a license form EPFL to use, copy, distribute or modify the Specifications subject to the
terms and conditions of this Licensee. You may not impose any further restrictions on the recipients' exercise of the rights granted
herein.

4.4 EPFL may publish revised and/or new versions of the e-puck2 Robot Open Source Hardware License from time to time. Such new
versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.

Each version is given a distinguishing version number. If the Specifications specify a version number of this License which applies to it
and "any later version", you have the option of following the terms and conditions either of that version or of any later version published
by EPFL. If the Specifications do not specify a version number of this License, you may choose any version ever published by EPFL.

5. Disclaimer of Warranty

THE SPECIFICATIONS ARE PROVIDED "AS IS". EPFL DOES NOT MAKE ANY WARRANTY OF ANY KIND, EITHER EXPRESSED
OR IMPLIED, INCLUDING WITHOUT LIMITATION WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE, ABSENCE OF DEFECT AND NON-INFRINGEMENT OF THIRD PARTIES' RIGHTS IN RESPECT OF THE
SPECIFICATIONS OR MODIFIED SPECIFICATIONS OR ANY ROBOT(S) THAT MAY BE BUILD OR MANUFACTURED BASED ON
THE SPECIFICATIONS OR ON MODIFIED SPECIFICATIONS. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF
ROBOTS BUILT OR MANUFACTURED BASED ON THE SPECIFICATIONS OR ON MODIFIED SPECIFICATIONS SHALL BE WITH
YOU. SHOULD THE SPECIFICATIONS OR MODIFIED SPECIFICATIONS PROVE TO BE DEFECTIVE, YOU SHALL ASSUME THE
COST OF ALL NECESSARY REPAIR OR CORRECTIONS TO THE ROBOT(S).
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL EPFL OR ANY PARTY WHO MAY
MODIFY AND/OR REDISTRIBUTE THE SPECIFICATIONS AS PERMITTED HEREIN, BE LIABLE TO YOU FOR DAMAGES,
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR
INABILITY TO USE THE SPECIFICATIONS AND/OR THE ROBOT(S), EVEN IF EPFL OR OTHER PARTY HAS BEEN ADVISED OF
THE POSSIBILITY OF SUCH DAMAGES. +

END OF LICENSE

3
 First test after unpacking reset
The e-puck2 robot comes with a set of demos preinstalled called demoGCtronic2.
Also available at GCtronic web site www.gctronic.com/e-puck2.php
Moving the mode selector and pushing on the small reset button, it’s
possible to activate different sub programs:
3) Communicate using Bluetooth with a host PC to show all the sensors esp32
data including VGA camera. button
8) Same but with the USB cable and another virtual serial port
B) Obstacle avoidance, LED and sound show
C) Fix forward speed (150) and LED show
D) Reactions from accelerometer
ON/OFF
Apart the Bluetooth demo (3), the others do not require any else than the below Name
robot itself and make use of most of the sensors and actuators on the robot and ID
base.
selector
To communicate via Bluetooth the computer and the robot must be “paired”.
Each e-puck2 has a name (e-puck2_XXXXX) and the PIN code is 0000.
XXXXX is the number written on the body and on top of the BT/WiFi module.
On the nearby figure XXXXX is 3767.
The steps are:
- for the first pairing, keep pushed the esp32
button and power on the robot.
- run a search of new Bluetooth devices from
the PC.
- choose the e-puck2_XXXXX device where
XXXXX is the number of your e-puck2.
- depending on your OS you might be asked to
enter the PIN.
- 3 virtual serial ports are created. Use the one
called “UART” to link the main processor.
- once paired, next time no step is required.

Any terminal program can be used and typing ‘H’

‘enter’ the help menu is written on the screen. The
e-puck monitor (also on www.gctronic.com) is an
example interface (nearby figure) using the
communication protocol called Asercom to access
all the sensors and actuators of the robot.

Charging the battery

You can charge the battery in the robot via USB
or externally. To charge externally, pull the
battery out from the robot frame and install it on Monitor interface on PC showing all sensors and allowing control of actuators
the charger board.
Be careful with the positive terminal of the
battery (the one with the black plastic). Avoid
scratching it. Instead, fully compress the springs
Compress the springs pushing the battery
on the opposite side while managing it.

4
¦

Battery in the charger 0- -8

¦
C

Mode selector with 16 positions

Contact Information
GCtronic, Electronics and Mechatronics
via Cassarinetta 2, CH-6900 Lugano, Switzerland
GCtronic
phone: +41 78 601 11 13 Electronics &
web: www.gctronic.com Mechatronics
e-mail: info@gctronic.com