⚠ wiki page used in TP Intro

EPuck2's Presentation

The EPuck2 robot is not just a robot with many actuators and sensors; it also incorporates a USB Hub, a programmer and multiple internal interconnections offering a really interesting compact system.

To get a better detailled idea, see:

• EPuck2's block diagram
• EPuck2's main features
• EPuck2's electronic diagram

💠 EPuck2's Block diagram

• Below is a picture (based on https://www.gctronic.com/doc/images/e-puck2-overview.png but modified - VSCode replacing Eclipse) that summarizes the main components of the robot:

💠 EPuck2's Main features

• Among those components, 4 are particuliary important:
  • STM32F407: main MCU managing sensors and actuators
  • STM32F413: MCU used as a programmer/debugger
  • ESP32: MCU with Bluetooth and WIFI capabilities acting as a radio module. It also manages 4 RGB leds (12 GPIOs) and the User button in order to meet the limited number of GPIOs of the STM32F407.
  • USB Hub: connecting the USB ports of STM32F407 and STM32F413 (each 1) to the USB connector
• In the context of this course, the code you will produce will be intended to run on the main mcu: the STM32F407
• More details here

💠 EPuck2's Important precautions

• The Epuck2 robot has 2 USB connectors but ONLY one must be used at time. More details here
• The battery must NEVER be removed. It has a very precise spatial orientation so as not to force mechanically at the risk of breaking the injected plastic frame, or of bending the contact tabs.

💠 EPuck2's Power on/off

• The EPuck2 connected via USB to a computer, only the programmer (STM32F413), the battery charger and the USB Hub are automatically powered from the USB source, the battery being charged if necessary.
• To supply the rest of the robot (including the STM32F407 main MCU and the radio module) press the Power button
• This power-up is also done automatically by the programmer when asked to program the STM32F407, thus avoiding problems for the user
• More details here

💠 EPuck2's State LEDs indicator

• Several dedicated LEDs indicate the states of various functions specific to the robot, such as:
  • State of the battery charge
  • USB connection
  • Communications
• A detailed description can be found here

💠 EPuck2 un/boxing

In order to keep the material in a good state and robust to potential falls, you can check out the right way of (un)boxing the EPuck-2 robot through this video.