unifr-api-epuck

First Steps

Welcome to the UNIFR API e-puck’s documentation.

unifr_api_epuck is a simple API wrapper that lets you control a real or simulated e-puck robot. Please find below the instructions to get started with the API for Python3.

Submitted by: David Roman Frischer

Object detection section by: Vincent Carrel

Supervisor: Dr. Julien Nembrini

documentation : https://unifr-api-epuck.readthedocs.io/en/latest/

Requirements

Python3.x on your computer.
Webots or a real e-puck.

How To Start

With Real Robots

How to install the package from your terminal.
```
$ pip install unifr_api_epuck
```

How to implement

To import the package:

from unifr_api_epuck import wrapper

To create an instance of the robot:

#Put the IP address of your robot.
MY_IP = '192.168.43.125'
r = wrapper.get_robot(MY_IP)

To control the robot by calling its actions:

r.init_sensors() #initiates the sensors
r.set_speed(-2, 2) #makes it turn around itself

#infinite loop
while r.go_on():
    prox_values = r.get_prox() #gets the values of the proximity sensors
    print(prox_values)

r.clean_up() #makes a reset

To run the file
```
$ python3 my_controller_file.py
```

With Webots

How to install the package from your terminal.
```
$ pip install unifr_api_epuck
```

How to implement your Python controller

To import the wrapper from the package:

from unifr_api_epuck import wrapper

To create an instance of the robot:

r = wrapper.get_robot()

To control the robot by calling its actions:

r.init_sensors() #initiates the sensors
r.set_speed(-2, 2) #makes it turn around itself

#infinite loop
while r.go_on():
    prox_values = r.get_prox() #gets the values of the proximity sensors
    print(prox_values)

r.clean_up() #makes a reset

To run the file:
- ⏯ press play on Webots

Simple Example Code

Q: What does it do ?

A: The robot goes forward at a speed of 2 and prints its proximitiy sensor values.

from unifr_api_epuck import wrapper

ip_addr = '192.168.43.125'
r = wrapper.get_robot(ip_addr)

r.set_speed(2)        #sets the speed of the wheels
r.init_sensors()      #initiates the proximity sensor

#infinite loop
while r.go_on():
    print(r.get_prox()) #prints the proximity sensor values on the terminal

    #inserts some more code here to control your robot

r.clean_up()

Graphic User Interface

A GUI is available in the package. To start it, please run the following command:
$ python3 -m unifr_api_epuck -g

Sources

Wifi Protocol between Robot <–> computer

https://www.gctronic.com/doc/index.php?title=e-puck2_PC_side_development#WiFi_2

http://projects.gctronic.com/epuck2/complete.py

https://github.com/nembrinj/epuckAPI/tree/master

Webots

https://www.cyberbotics.com/doc/reference/nodes-and-api-functions

Multiprocess

https://docs.python.org/3/library/multiprocessing.html#multiprocessing.managers.SyncManager

https://stackoverflow.com/questions/2545961/how-to-synchronize-a-python-dict-with-multiprocessing

Socket errors

https://docs.python.org/3/library/exceptions.html#OSError

Pi-Puck

https://pi-puck.readthedocs.io/en/latest/

https://github.com/yorkrobotlab/pi-puck

https://github.com/gctronic/Pi-puck

Metadata

Release files for unifr-api-epuck 1.3.11

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for unifr-api-epuck 1.3.11
File	Size	Uploaded
unifr_api_epuck-1.3.11.tar.gz	39.3 MB	Mar 19, 2025	Details

Built distribution (wheel)

Table of built distributions (wheels) for unifr-api-epuck 1.3.11
File	Interpreter	ABI	Platform	Reset
unifr_api_epuck-1.3.11-py3-none-any.whl 39.3 MB Mar 19, 2025	Python 3	none	any	Details

Total release size: 78.5 MB

Release files / unifr_api_epuck-1.3.11.tar.gz

Download URL	unifr_api_epuck-1.3.11.tar.gz
Size	39.3 MB
Tags	Source
SHA-256 checksum How to use checksums	`f0ed9861cb4bc4c732190d49ceb488cbc714f89dbbd90001ae16215d2fae34f0`
BLAKE2b-256 checksum How to use checksums	`c22fefd151d4320aadf881dac9ba6587e6eb6dbdb42d529a6b8407d153f2437d`
Upload date	Mar 19, 2025
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/6.1.0 CPython/3.12.3`

Release files / unifr_api_epuck-1.3.11-py3-none-any.whl

Download URL	unifr_api_epuck-1.3.11-py3-none-any.whl
Size	39.3 MB
Tags	Python 3
SHA-256 checksum How to use checksums	`0ecc06d92c3b0f75e8ded9155be39bd15f519e4110d62c8d6cd0f29b6e9471c5`
BLAKE2b-256 checksum How to use checksums	`0ebe4b9017201962c56d825c0b857251ba9be3d5fb97109dfc438c5b3410379f`
Upload date	Mar 19, 2025
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/6.1.0 CPython/3.12.3`