Webots can use the serial port of your computer to communicate with the Khepera robot:

1. Configure your Khepera robot in mode 1, for serial communication at 9600 baud as described in figure 7.1.

2. Attach the serial connection cable between your Khepera robot and the Khepera interface.

3. Plug the Khepera Interface into a serial port of your computer (either COM1, COM2, etc.).

4. Check that the the Khepera robot power switch is OFF, and plug the power supply into the Khepera Interface.

Figure 7.1: Khepera II mode selection

Note: Linux and Mac OS X users may want to redefine the COM1, COM2, COM3 and COM4 ports by setting the WEBOTS_COM1, WEBOTS_COM2, WEBOTS_COM3 and/or WEBOTS_COM4 environment variables to point to the appropriate /dev device files. On Linux, if these environment variables are not set, Webots will use /dev/ttyS0, /dev/ttyS1, /dev/ttyS2 and /dev/ttyS3 for COM1, COM2 COM3 and COM4 respectively (note the numbering difference). For example, if your laptop running Linux has no serial port, you may want to use a USB-to-RS232 converter, in which case it may be useful to type something like: export WEBOTS_COM1=/dev/ttyUSB0, to allow Webots to communicate with the Khepera through the USB port. On Mac OS X, only COM1 has a default value, which is set to "/dev/tty.USB Serial", corresponding to the default USB to serial converter (like the one installed by the USB232-P9 converters). Other USB to serial converters may require that you define the WEBOTS_COM1 environment variable to match their specific locations. For example, the KeySpan USB to serial converter will require you to define WEBOTS_COM1 as "/dev/tty.USA28X1213P1.1". Please consult the documentation of your USB serial adapter for the exact file name to use.

Your system should now be operational: you should be able to simulate, remote control and transfer controllers to your Khepera robot.

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