Robot Arm and Car Movement
With a completed robot arm this job was to add it to the robot and integrate with the PCA9685 servo board. Some code using the PCA9685 needed to be written to move the arm into the various positions needed to retrieve the apples.
This video hardcodes the low, middle and top apple positions and then a “parked” position. It also tests opening and closing of the gripper.
With the functions to move the robot complete, it was now tied to the driving code to see if it was possible to remove apples from the tree.
We needed to reduce the speed to 10% to give the fine movement and control necessary to line the gripper up.
Buttons were setup (“R1” – Open, “R2” – Close, “Square” – Bottom Apple, “Triangle” – Middle Apple, “Circle” – Top Apple, “Cross” – Park.
