yshenfab/epuck

E-Puck

Website

• http://www.gctronic.com/doc/index.php?title=E-Puck
• http://www.e-puck.org/
• http://www.e-puck.org/index.php?option=com_content&view=article&id=22&Itemid=13

rfcomm

rfcomm bind

sudo rfcomm bind /dev/rfcomm1 10:00:E8:D3:AA:48
sudo rfcomm bind /dev/rfcomm2 10:00:E8:D3:AA:C1
sudo rfcomm bind /dev/rfcomm3 10:00:E8:D3:AA:30
sudo rfcomm bind /dev/rfcomm4 10:00:E8:AB:80:B8
sudo rfcomm bind /dev/rfcomm5 10:00:E8:6C:89:37
sudo rfcomm bind /dev/rfcomm6 10:00:E8:6C:89:40

device list

modify /etc/bluetooth/rfcomm.conf

• rfcomm1{device 10:00:E8:D3:AA:48;} # 2996
• rfcomm2{device 10:00:E8:D3:AA:C1;} # 3542
• rfcomm3{device 10:00:E8:D3:AA:30;} # 3500
• rfcomm4{device 10:00:E8:AB:80:B8;} # 3636
• rfcomm5{device 10:00:E8:6C:89:37;} # 3679
• rfcomm6{device 10:00:E8:6C:89:40;} # 3680

Procedure

moprobe btusb
systemctl start bluetooth.service
sudo rfcomm bind /dev/rfcomm0 10:00:E8:6C:9A:76
sudo rfcomm bind /dev/rfcomm1 10:00:E8:6C:9A:77
sudo rfcomm bind /dev/rfcomm2 10:00:E8:D3:AA:48
./epuckuploadbt firmware.hex 3689
./epuckuploadbt firmware.hex 3702
./epuckuploadbt firmware.hex 3703
./epuckuploadbt firmware.hex 2996

Bluetooth

pair

moprobe btusb
systemctl start bluetooth.service
bluetoothctl
(optional) select 10:00:E8:6C:9A:76
power on
devices
scan on
agent on
pair 10:00:E8:6C:9A:76
(if no pin code) trust 10:00:E8:6C:9A:76
connect 10:00:E8:6C:9A:76

bluetooth serial

Bind paired device MAC address to tty terminal:

sudo rfcomm bind /dev/rfcomm0 10:00:E8:6C:9A:76
sudo rfcomm bind /dev/rfcomm1 10:00:E8:6C:9A:77
sudo rfcomm bind /dev/rfcomm2 10:00:E8:6C:89:41

minicom

selector 3, then send cmd

currently using

1. 10:00:E8:6C:9A:76 e-puck_3689
2. 10:00:E8:BE:1F:E3 e-puck_3705
3. 10:00:E8:6C:9A:77 e-puck_3702
4. 10:00:E8:6C:89:41 e-puck_3703
5. 10:00:E8:D3:AA:48 e-puck_2996

libIrcom

• http://www.e-puck.org/index.php?option=com_content&view=article&id=32&Itemid=28
• range and bearing
• communicate and avoid obstacles
• /home/yang/sustech/epuck/libIrcom-1.0.7/libIrcom-1.0.7/pc/ircomTest
• edit /etc/bluetooth/rfcomm.conf
• ./ircomTest NUM (NUM as 0,1,2 which correspond to rfcomm0,1,2 in /etc/bluetooth/rfcomm.conf)

Bootloader

• refer to directory epuck-bootloader-linux
• ./epuckuploadbt firmware.hex 3689

Other

• http://www.e-puck.org/index.php?option=com_content&view=article&id=32&Itemid=28
• http://www.e-puck.org/index.php?option=com_content&view=article&id=18&Itemid=24
• https://github.com/gctronic/e-puck-library
• https://github.com/gctronic/epuck_driver
• https://www.gctronic.com/doc/index.php?title=E-Puck
• https://www.gctronic.com/doc/index.php/E-Puck#ROS