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e-puck2 Hardware

    1 Hardware


     The following figures show the main components offered by the e-puck2 robot and where they are physically placed:




    The e-puck2 robot maintains full compatibility with its predecessor e-puck (e-puck HWRev 1.3 is considered in the following table):

    Feature e-puck 1.3 e-puck 2 Compatibility Additional
    Size, weight 70 mm diameter, 55 mm height, 150 g Same form factor: 70 mm diameter, 45 mm, 130 g No e-jumper required
    Battery, autonomy LiIPo rechargeable battery (external charger), 1800 mAh. 
    About 3 hours autonomy. Recharging time about 2-3h.
    Same battery; USB charging, recharging time about 2.5h. USB charging
    Processor 16-bit dsPIC30F6014A @ 60MHz (15 MIPS), DSP core for signal processing 32-bit STM32F407 @ 168 MHz (210 DMIPS), DSP and FPU, DMA ~10 times faster
    Memory RAM: 8 KB; Flash: 144 KB RAM: 192 KB; Flash: 1024 KB RAM: 24x more capable
    Flash:~7x more capable
    Motors 2 stepper motors with a 50:1 reduction gear; 20 steps per revolution; about 0.13 mm resolution Same motors  
    Wheels Wheels diamater = 41 mm 
    Distance between wheels = 53 mm
    Same wheels  
    Speed Max: 1000 steps/s (about 12.9 cm/s) Max: 1200 steps/s (about 15.4 cm/s) 20% faster
    Mechanical structure Transparent plastic body supporting PCBs, battery and motors Same mechanics  
    Distance sensor 8 infra-red sensors measuring ambient light and proximity of objects up to 6 cm Same infra-red sensors 
    Front real distance sensor, Time of fight (ToF), up to 2 meter.
    ToF sensor
    IMU 3D accelerometer and 3D gyro 3D accelerometer, 3D gyro, 3D magnetometer 3D magnetometer
    Camera VGA color camera; typical use: 52×39 or 480×1 Same camera; typical use: 160×120 Bigger images handling
    Audio 3 omni-directional microphones for sound localization
    speaker capable of playing WAV or tone sounds
    4 omni-directional microhpones (digital) for sound localization
    speaker capable of playing WAV or tone sounds
    +1 front microphone
    LEDs 8 red LEDs around the robot, green body light, 1 strong red LED in front 4 red LEDs and 4 RGB LEDs around the robot, green light, 1 strong red LED in front 4x RGB LEDs
    Communication RS232 and Bluetooth 2.0 for connection and programming USB Full-speed, Bluetooth 2.0, BLE, WiFi WiFi, BLE
    Storage Not available Micro SD slot Micro SD
    Remote Control Infra-red receiver for standard remote control commands Same receiver  
    Switch / selector 16 position rotating switch Same selector  
    Extensions Ground sensors, range and bearing, RGB panel, Gumstix extension, omnivision, your own All extension supported  
    Programming Free C compiler and IDE, Webots simulator, external debugger Free C compiler and IDE, Webots simulator, onboard debugger (GDB) Onboard debugger

    This is the overall communication schema:

    Migrating from e-puck1.x to e-puck2

    The e-puck2 robot maintains full compatibility with its predecessor e-puck, but there are some improvements that you should be aware of.

    First 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. The components available on the e-jumper are integrated directly in the robot board. 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.

    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. If you want you can still charge the battery with the e-puck1.x external charger, in case you have more than one battery.

    Moreover you don’t need anymore a special serial cable (with probably an RS232 to USB adaptor) to be able to communicate with the robot, but you can use the USB cable. Once connected to the computer a serial port will be available that you can use to easily exchange data with the robot.


    All 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.
    For more information about using the gumstix extension with e-puck2 robot refer to http://www.gctronic.com/doc/index.php?title=Overo_Extension#e-puck2


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