Install the toolchain

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There is an already compiled toolchain for the e-puck in the repositories. In the svn you will find e-puck_toolchain_i686-20110909.tar.bz2. Untar this file in your root dir. That's it! All the libs and includes will be in /usr/local/

Up to now we only have a 32bit toolchain that works under ubuntu and slackware (tested). We are still in the process of making a 64bit version.

On Ubuntu you need to add the files to the path. The best way to do this is to add these lines in your .bashrc

export PATH=/usr/local/pic30-elf/bin:$PATH
export COMPILER_PATH=/usr/bin

Note that GioReina worked with the e-pucks under mac os. Check out his directory in the examples file.


In the file e-puck_various_and_examples.tar.gz you will find a directory called testing. In this directory there is a very simple program called testing.c, basically a while(1). If you manage to compile this you should be good to go.

cd testing
mkdir build
cd build
cmake ..

everything should be fine and created

pic30-elf-bin2hex testing

if everything goes fine you should have a testing that is the compiled binary (obtained by doing make, not usable by the e-puck) and a testing.hex (obtained with the pic30-elf-bin2hex) that can be uploaded on the e-puck.


In the svn you will find also a file called e-puck_various_and_examples.tar.gz. This files contains all the examples, original libraries and software that I found around. Many things have never been tested, many are old, many are undocumented. Still it's full of useful examples that you can use for your programs. Have a look.

More technical information

How to compile the pic30-gcc v3.20

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