Webots tutorial pdf how to#
Webots tutorial pdf serial#
Webots tutorial pdf manual#
Webots tutorial pdf code#

Webots tutorial pdf serial#

HWRev 1.2 and 1.3: Texas Instruments LMX9838 Bluetooth Serial Port Module, Data Sheet, Software User Guide.

HWRev 1.1: National Semiconductor LMX9820A Bluetooth Serial Port Module, Data Sheet, Software User Guide.

HWRev 1.3: PixelPlus PO8030D CMOS image sensor, Data Sheet, no IR cut filter.

HWRev 1.2: PixelPlus PO6030K CMOS image sensor, Data Sheet, no IR cut filter.

HWRev 1.1: PixelPlus PO3030K CMOS image sensor, Data Sheet, no IR cut filter.

Webots tutorial pdf manual#

dsPIC30F/33F Programmer's Reference Manual.

Microcontroller: Microchip dsPIC30F6014A.

The hardware specifications are valid for all e-puck models, except when explicitly specified with an hardware revision. The orientation of the gyro is shown below, the x axis points forward, the y axis points left and the z axis points upward: The gyroscope is available from HWRev 1.3. The orientation of the accelerometer is shown below, the x axis points left, the y axis points forward and z points upward:ДЇor users playing with e-puck HWRev1.3 and gumstix extension refer to section Accelerometer and gyroscope (e-puck_HWRev_1.3).ДЇrom HWRev 1.3 the microphone sensitivity resulted a little bit different from the previous hardware revision some empirical tests show that the difference is about в‘5% so beware to adapt the thresholds in your applications if you need. The values ranges of the digital accelerometer are different from the analog accelerometer, but the library scale them to be similar in order to be compatible with the existing demos. The actual accelerometer mounted on the robot is automatically detected by the library at startup. It is up to the user to check this modification by simply using the advanced sercom demo (selector in position 3) and requesting the version (command v) the hardware version returned by the command corresponds to the value of the last word of the EEPROM.

Webots tutorial pdf how to#

This project ( src) is an example on how to write the last word of the EEPROM.Д«eware that not all robots are shipped with the EEPROM programmed as specified previously. Temp = ReadEE(0x7F,0xFFFE,&HWversion, 1) *read HW version from the eeprom (last word)*/

The following example illustrates how to read this word:

0xFFFF (0xFFF1111): PO3030 with no rotation.

The possible values for the EEPROM are thus: This modification follow these rules: the modification apply only to the last word of the EEPROM, at address 0x7FFFFE bits 14 and 15 are used to indicate the rotation (11=no rotation, 01=90 degrees, 10=-90 degrees, 00=180 degrees), bits 12 and 13 are used to indicate the camera model (11=PO3030, 10=PO6030, 01=PO8030).

In order to let the user distinguish the current camera mounted on the robot and in case it is rotated by 90 degrees apply the related processing, the EEPROM is modified based on the camera model mounted on the robot and its orientation. The e-puck library configures the camera in order to get the right orientation for all situations except when it is rotated by 90 degrees. The orientation of the camera is different in each hardware revision and also in the case of HWRev 1.1 the same camera model can be oriented differently, here is an image that shows the different cameras and related orientation: The updated e-puck library handles automatically the various hardware revisions in order to be compatible with the existing standard software. LSM330 3-axes digital (I2C) acclerometer + 3-axes gyroscope The following table summarizes the differences between revisions:

HWRev 1.3: models from 3320 on, production August 2014.

HWRev 1.2: models from 1500 on, production of June 2008.

5.3 Battery isolation (for battery up to 2012).

Webots tutorial pdf code#

5.2 Uncorrect/unknown bluetooth PIN code.5.1 Re-flashing the bootloader on e-puck.4.2 Bluetooth Communication Testing - robot to robot.4.1 Bluetooth Communication Testing - PC to robot.3.4.2 Webots ROS and OpenCV with e-puck.1.5.1 Battery from 2016 (last quarter) on.