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\usepackage{verbatim}

\begin{document}

\pagenumbering{roman}

\begin{center}
{\bf \Large{Program Listing for the e-puck Robot}}
\end{center}

\vspace*{0.1in}

This program listing is provided for easy reference and searchability.
Indentations have not been preserved in the process of automatic
inclusion in this listing file, and long lines of text may run off the
edge of the page.  

\tableofcontents

\newpage

\pagenumbering{arabic}

\section{Demo Programs}

\subsection{Interactive Testing of Extended e-puck Functions:  program/NUtest/NUtest.c}

This program allows the user to test a number of functions of the
e-puck using the e-puck library provided by EPFL, plus a few other
functions for motor control created at NU in
library/motor\_led/advance\_one\_timer.  Follow the instructions in
the comments at the beginning of the program to create an MPLAB
project and connect to the e-puck by hyperterminal.

\tiny
\verbatiminput{../program/NUtest/NUtest.c}
\normalsize

\subsection{Interactive Testing of e-puck Functions:  program/advance\_sercom/main\_com.c}

This program is provided by EPFL and can be used with the e-puck monitor program
(in the ``tool'' directory) to interactively operate the e-puck with a GUI interface.

\tiny
\verbatiminput{../program/advance_sercom/main_com.c}
\normalsize

\subsection{Bluetooth Mirror:  program/bluetooth\_mirror/main.c}

\tiny
\verbatiminput{../program/bluetooth_mirror/main.c}
\normalsize

\subsection{Pre-Installed Demo Programs:  program/demo\_swis\_1}

\subsubsection{main\_c.c}

\tiny
\verbatiminput{../program/demo_swis_1/main_c.c}
\normalsize

\subsubsection{common.inc}

\tiny
\verbatiminput{../program/demo_swis_1/common.inc}
\normalsize

\subsubsection{ComModule.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/ComModule.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/ComModule.c}
\normalsize

\subsubsection{runaccelerometer.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runaccelerometer.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runaccelerometer.c}
\normalsize

\subsubsection{runacclive.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runacclive.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runacclive.c}
\normalsize

\subsubsection{runbreitenberg\_adv.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runbreitenberg_adv.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runbreitenberg_adv.c}
\normalsize

\subsubsection{runbreitenberg.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runbreitenberg.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runbreitenberg.c}
\normalsize

\subsubsection{runcollaboration.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runcollaboration.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runcollaboration.c}
\normalsize

\subsubsection{runfftlistener.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runfftlistener.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runfftlistener.c}
\normalsize

\subsubsection{runfollowball.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runfollowball.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runfollowball.c}
\normalsize

\subsubsection{rungrounddirection.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/rungrounddirection.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/rungrounddirection.c}
\normalsize

\subsubsection{runlocatesound.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runlocatesound.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runlocatesound.c}
\normalsize

\subsubsection{runwallfollow.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/runwallfollow.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/runwallfollow.c}
\normalsize

\subsubsection{search\_ball.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/search_ball.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/search_ball.c}
\normalsize

\subsubsection{utility.\{h,c\}}

\tiny
\verbatiminput{../program/demo_swis_1/utility.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../program/demo_swis_1/utility.c}
\normalsize


\section{Library}

\subsection{a\_d}

\subsubsection{e\_accelerometer.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/e_accelerometer.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/e_accelerometer.c}
\normalsize

\subsubsection{e\_ad\_conv.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/e_ad_conv.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/e_ad_conv.c}
\normalsize

\subsubsection{e\_micro.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/e_micro.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/e_micro.c}
\normalsize

\subsubsection{e\_prox\_timer2.c}

\tiny
\verbatiminput{../library/a_d/e_prox_timer2.c}
\normalsize

\subsubsection{e\_prox.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/e_prox.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/e_prox.c}
\normalsize



\subsection{a\_d/advance\_ad\_scan}

\subsubsection{e\_acc.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_acc.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_acc.c}
\normalsize

\subsubsection{e\_ad\_conv.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_ad_conv.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_ad_conv.c}
\normalsize

\subsubsection{e\_micro.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_micro.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_micro.c}
\normalsize

\subsubsection{e\_prox.\{h,c\}}

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_prox.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/a_d/advance_ad_scan/e_prox.c}
\normalsize



\subsection{bluetooth}

\subsubsection{e\_bluetooth.\{h,c\}}

\tiny
\verbatiminput{../library/bluetooth/e_bluetooth.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/bluetooth/e_bluetooth.c}
\normalsize


\subsection{camera/fast\_2\_timer}

\subsubsection{e\_calc.c}

\tiny
\verbatiminput{../library/camera/fast_2_timer/e_calc.c}
\normalsize

\subsubsection{e\_interrupt.s}

\tiny
\verbatiminput{../library/camera/fast_2_timer/e_interrupt.s}
\normalsize

\subsubsection{e\_po3030k.h}

\tiny
\verbatiminput{../library/camera/fast_2_timer/e_po3030k.h}
\normalsize

\subsubsection{e\_registers.c}

\tiny
\verbatiminput{../library/camera/fast_2_timer/e_registers.c}
\normalsize

\subsubsection{e\_timers.c}

\tiny
\verbatiminput{../library/camera/fast_2_timer/e_timers.c}
\normalsize



\subsection{camera/slow\_3\_timer}

\subsubsection{e\_calc.c}

\tiny
\verbatiminput{../library/camera/slow_3_timer/e_calc.c}
\normalsize

\subsubsection{e\_po3030k.h}

\tiny
\verbatiminput{../library/camera/slow_3_timer/e_po3030k.h}
\normalsize

\subsubsection{e\_registers.c}

\tiny
\verbatiminput{../library/camera/slow_3_timer/e_registers.c}
\normalsize

\subsubsection{e\_timers.c}

\tiny
\verbatiminput{../library/camera/slow_3_timer/e_timers.c}
\normalsize



\subsection{codec}

\subsubsection{e\_common.inc}

\tiny
\verbatiminput{../library/codec/e_common.inc}
\normalsize

\subsubsection{e\_const\_sound.s}

A huge assembly file containing sounds.

%\tiny
%\verbatiminput{../library/codec/e_const_sound.s}
%\normalsize


\subsubsection{e\_init\_codec\_slave.s}

\tiny
\verbatiminput{../library/codec/e_init_codec_slave.s}
\normalsize


\subsubsection{e\_init\_dci\_master.s}

\tiny
\verbatiminput{../library/codec/e_init_dci_master.s}
\normalsize


\subsubsection{e\_isr\_dci.s}

\tiny
\verbatiminput{../library/codec/e_isr_dci.s}
\normalsize


\subsubsection{e\_sound.\{h,c\}}

\tiny
\verbatiminput{../library/codec/e_sound.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/codec/e_sound.c}
\normalsize


\subsubsection{e\_sub\_dci\_kickoff.s}

\tiny
\verbatiminput{../library/codec/e_sub_dci_kickoff.s}
\normalsize

\subsection{contrib/LIS\_sensors\_turret}

\subsubsection{e\_devantech.\{h,c\}}

\tiny
\verbatiminput{../library/contrib/LIS_sensors_turret/e_devantech.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/contrib/LIS_sensors_turret/e_devantech.c}
\normalsize


\subsubsection{e\_sensext.\{h,c\}}

\tiny
\verbatiminput{../library/contrib/LIS_sensors_turret/e_sensext.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/contrib/LIS_sensors_turret/e_sensext.c}
\normalsize

\subsubsection{e\_sharp.\{h,c\}}

\tiny
\verbatiminput{../library/contrib/LIS_sensors_turret/e_sharp.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/contrib/LIS_sensors_turret/e_sharp.c}
\normalsize

\subsection{contrib/SWIS\_com\_module}

\subsubsection{ComModule\{h,c\}}

\tiny
\verbatiminput{../library/contrib/SWIS_com_module/ComModule.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/contrib/SWIS_com_module/ComModule.c}
\normalsize



\subsection{fft}

\subsubsection{e\_fast\_copy.s}

\tiny
\verbatiminput{../library/fft/e_fast_copy.s}
\normalsize

\subsubsection{e\_fft\_utilities.h}

\tiny
\verbatiminput{../library/fft/e_fft_utilities.h}
\normalsize

\subsubsection{e\_fft.\{h,c\}}

\tiny
\verbatiminput{../library/fft/e_fft.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/fft/e_fft.c}
\normalsize

\subsubsection{e\_input\_signal.c}

\tiny
\verbatiminput{../library/fft/e_input_signal.c}
\normalsize

\subsubsection{e\_subtract\_mean.s}

\tiny
\verbatiminput{../library/fft/e_subtract_mean.s}
\normalsize

\subsubsection{e\_twiddle\_factors.c}

\tiny
\verbatiminput{../library/fft/e_twiddle_factors.c}
\normalsize

\subsubsection{e\_libdsp-coff.a}

A .a file.

\subsubsection{e\_libdsp-elf.a}

A .a file.



\subsection{I2C}

\subsubsection{e\_I2C\_master\_module.\{h,c\}}

\tiny
\verbatiminput{../library/I2C/e_I2C_master_module.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/I2C/e_I2C_master_module.c}
\normalsize

\subsubsection{e\_I2C\_protocol.\{h,c\}}

\tiny
\verbatiminput{../library/I2C/e_I2C_protocol.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/I2C/e_I2C_protocol.c}
\normalsize



\subsection{matlab}

\subsubsection{matlab.\{h,c\}}

\tiny
\verbatiminput{../library/matlab/matlab.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/matlab/matlab.c}
\normalsize

\subsubsection{matlab\_files/CloseEpuck.m}

\tiny
\verbatiminput{../library/matlab/matlab_files/CloseEpuck.m}
\normalsize

\subsubsection{matlab\_files/EpuckFlush.m}

\tiny
\verbatiminput{../library/matlab/matlab_files/EpuckFlush.m}
\normalsize

\subsubsection{matlab\_files/EpuckGetData.m}

\tiny
\verbatiminput{../library/matlab/matlab_files/EpuckGetData.m}
\normalsize

\subsubsection{matlab\_files/EpuckSendData.m}

\tiny
\verbatiminput{../library/matlab/matlab_files/EpuckSendData.m}
\normalsize

\subsubsection{matlab\_files/OpenEpuck.m}

\tiny
\verbatiminput{../library/matlab/matlab_files/OpenEpuck.m}
\normalsize



\subsection{motor\_led}

\subsubsection{e\_epuck\_ports.h}

\tiny
\verbatiminput{../library/motor_led/e_epuck_ports.h}
\normalsize

\subsubsection{e\_init\_port.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/e_init_port.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/e_init_port.c}
\normalsize

\subsubsection{e\_led.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/e_led.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/e_led.c}
\normalsize

\subsubsection{e\_motors\_timer3.c}

\tiny
\verbatiminput{../library/motor_led/e_motors_timer3.c}
\normalsize

\subsubsection{e\_motors.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/e_motors.c}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/e_motors.h}
\normalsize



\subsection{motor\_led/advance\_one\_timer}

\subsubsection{e\_agenda\_NU.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_agenda_NU.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_agenda_NU.c}
\normalsize

\subsubsection{e\_agenda.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_agenda.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_agenda.c}
\normalsize

\subsubsection{e\_led.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_led.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_led.c}
\normalsize

\subsubsection{e\_motors\_NU.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_motors_NU.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_motors_NU.c}
\normalsize

\subsubsection{e\_motors.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_motors.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_motors.c}
\normalsize

\subsubsection{e\_remote\_control.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_remote_control.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/e_remote_control.c}
\normalsize

\subsection{motor\_led/advance\_one\_timer/fast\_agenda}

\subsubsection{e\_agenda\_fast.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/fast_agenda/e_agenda_fast.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/fast_agenda/e_agenda_fast.c}
\normalsize

\subsubsection{e\_led.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/fast_agenda/e_led.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/fast_agenda/e_led.c}
\normalsize

\subsubsection{e\_motors.\{h,c\}}

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/fast_agenda/e_motors.h}
\normalsize

---------------------------------

\tiny
\verbatiminput{../library/motor_led/advance_one_timer/fast_agenda/e_motors.c}
\normalsize


\subsection{uart}

\subsubsection{e\_epuck\_ports.inc}

\tiny
\verbatiminput{../library/uart/e_epuck_ports.inc}
\normalsize

\subsubsection{e\_init\_uart1.s}

\tiny
\verbatiminput{../library/uart/e_init_uart1.s}
\normalsize


\subsubsection{e\_init\_uart2.s}

\tiny
\verbatiminput{../library/uart/e_init_uart2.s}
\normalsize


\subsubsection{e\_uart\_char.h}

\tiny
\verbatiminput{../library/uart/e_uart_char.h}
\normalsize


\subsubsection{e\_uart1\_rx\_char.s}

\tiny
\verbatiminput{../library/uart/e_uart1_rx_char.s}
\normalsize

\subsubsection{e\_uart1\_tx\_char.s}

\tiny
\verbatiminput{../library/uart/e_uart1_tx_char.s}
\normalsize

\subsubsection{e\_uart2\_rx\_char.s}

\tiny
\verbatiminput{../library/uart/e_uart2_rx_char.s}
\normalsize

\subsubsection{e\_uart2\_tx\_char.s}

\tiny
\verbatiminput{../library/uart/e_uart2_tx_char.s}
\normalsize

\end{document}

