The Psi Swarm Robot
The Psi Swarm robot is a new platform developed at the York Robotics Laboratory that is designed to allow low-cost swarms of robots to be assembled for use in research, teaching and outreach. On these pages you can find resources and documentation for the Psi Swarm robot and videos of it in use
.
Introduction
A Psi Swarm robot comprises the main Psi Swarm PCB, a two-part 3D printer plastic shell, an MBED LPC1768 microcontroller and various optional modules. The MBED LPC1768 is widely available at most large electronics merchants, including Farnell (UK), and costs around £40 GBP. The optional modules include the BlueSMIRF series of Bluetooth to RS-232 adapters, an SRF02 ultrasonic module and a CMPS11 tilt-compensated compass module; all of these are available from Hobbytronics.
API Library and Documentation
A dedicated MBED team exists for the Psi Swarm robot and can be found a joined here: https://developer.mbed.org/teams/Psi-Swarm-Robot/
A current version of the PsiSwarm API library implemented in C++ (version 0.8) can be found here: https://developer.mbed.org/teams/Psi-Swarm-Robot/code/PsiSwarmV8_CPP/
A blank example program using this version of the library can be found here: https://developer.mbed.org/teams/Psi-Swarm-Robot/code/PsiSwarm_V7_Blank/
The latest draft of the PsiSwarm manual can be found here: Psi Swarm Draft Manual V0.81 (PDF 
, 3,321kb)
A online version of the Doxygen-generated API documentation for this library can be found here: http://www-users.york.ac.uk/~jah128/psiswarm/
Old Versions
The last version of the old PsiSwarm C API library is version 0.7 (as of October 2016) and can be found here: https://developer.mbed.org/teams/Psi-Swarm-Robot/code/PsiSwarmV7/
A blank example program using this version of the library can be found here: https://developer.mbed.org/teams/Psi-Swarm-Robot/code/PsiSwarm_V7_Blank/
A copy of the above program and library, exported for use with the GCC ARM compiler, can be downloaded here: PsiSwarm-GCC-ARM-Version07 (zip 
, 2,060kb)
