This project ( src) is an example on how to write the last word of the EEPROM.īeware 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:
#INSTALL PYBLUEZ FOR MAC 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.
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