e-puck

One robot has three different controller roles

The main STM32F407 handles sensors, actuators and robot algorithms. An STM32F413 provides programming/debugging and power-management functions. The ESP32 handles wireless communication and also controls the RGB LEDs and user button. Treating every behavior as main-controller firmware would miss those dependencies. [S005]

The official documentation records changes within the e-puck2 family: the camera changed around July 2019, while hardware 2.2 changes the IMU and adds ESP32 PSRAM. It supplies separate radio factory images for hardware 2.0/2.1 and 2.2. These are configuration boundaries, not interchangeable specifications. No physical unit was inspected to identify its variant. [S005]

The desktop-monitor route is narrower than embedded development

With the documented factory firmware, the guide uses selector position 8 and the main-controller USB serial port for the monitor. The debugger and radio serial ports are separate, and their operating-system numbering can vary. The monitor can display sensor information and camera images and control outputs, but using it is optional. [S005]

The preserved monitor revision is b7fd0ae3095f56eda37027df8f54cfc0d16ec60d. Its build README names Qt 5.10.0 and historical deployment procedures. Those instructions do not establish compatibility with every current operating system. No application was installed, compiled or connected to a robot during this review. [S001] [S002]

Preserve firmware dependencies before claiming reproducibility

The separately archived main firmware is commit 3f174338a0bcc0e21cb75b5bd16dead0b2828a36. Its Git configuration lists ten submodules, including ChibiOS, Aseba and supporting communication libraries. Those payloads are not included merely by preserving the parent repository archive. The radio and programmer are also separate source and binary qualification tasks. [S006] [S007] [S008]

The guide distinguishes classic Bluetooth factory operation from dedicated WiFi and BLE firmware routes, and provides a separate macOS 15 BLE option. It also warns that programmer updates differ for robot IDs at or above 5400. This profile records the distinctions without prescribing a flash operation for an unidentified robot. No firmware or bootloader was changed. [S005]

License the source layer that was actually reviewed

The monitor's source notice allows GPL version 2 or later, while its included COPYING file contains GPL version 3. That software license does not establish the rights for all robot firmware or hardware. The selected main-firmware archive and its dependencies still need a complete component-license review. Complete matched fabrication CAD and PCB packages were not established from these software sources. [S003] [S004] [S007] [S008] [S010]

The remaining build questions are concrete: identify the actual robot revision, match all three firmware roles and host tools, and establish delivered costs and applicable source rights. The catalog has not tested motion, camera performance, wireless behavior or sensor accuracy. [S005]