Robotics University Project - ePuck Robot Programming

Project Overview

This university project involves programming an ePuck robot, a compact, two-wheeled robot equipped with various sensors. We aim to creatively utilize the robot's features through different modes like Pong game simulation and Alphabet writing.

videoepuckFinal.mp4

Requirements

• ePuck robot with motors, microphones, camera, proximity sensors, and LEDs.
• Development environment for ePuck with necessary libraries.

Features

1. Pong Game Simulation: The robot plays a pong game within virtual boundaries, reacting to virtual walls and keeping score.
2. Alphabet Writing Mode: Moves in patterns to write letters.
3. Mapping and Position Tracking: Tracks its position and orientation.
4. Sensor Integration: Uses proximity sensors, camera, and microphones.
5. LED Management: Uses LEDs for feedback and interaction.
6. Serial and USB Communication: For debugging and commands.
7. Error Handling and System Management: Ensures smooth operation.

How to Run

1. Compile the Code: Include all libraries and compile for ePuck.
2. Upload to ePuck: Use tools to upload the program to ePuck.
3. Operate Modes: Use commands or button presses on ePuck to switch modes.

Code Structure

• main.h: Main header with libraries and function prototypes.
• game_management.h: Manages game modes and state transitions.
• audio_processing.h, microphone.h: For audio processing.
• camera_processing.h: Handles camera image processing.
• ir_thread.h, proximity.h: Manages IR sensors for proximity detection.
• motors_processing.h: Controls motor movements.
• leds.h: Manages LED states.

Development Notes

• Testing: Test each feature thoroughly in a controlled environment.
• Modifications: Code structured for easy modifications and future expansions.
• Debugging: Use serial outputs for debugging and monitoring.

Contributions

This project is open for contributions. Fork, improve, and submit pull requests.

License

This project is released under the MIT License.

Contact

Creators: Vincent Naayem and Marc Favre Supervising Professor: Francesco Mondada

Acknowledgements

Thanks to the university, professors, and all contributors for their support in this project.

Galery

videoepuckFinal.mp4

videoEpuckDev.mp4

Results of live plotter: