{"id":636,"date":"2022-01-01T22:29:27","date_gmt":"2022-01-01T22:29:27","guid":{"rendered":"http:\/\/www.thelemmingfarm.uk\/?p=636"},"modified":"2022-01-01T22:29:33","modified_gmt":"2022-01-01T22:29:33","slug":"robot-arm-and-car-movement","status":"publish","type":"post","link":"http:\/\/www.thelemmingfarm.uk\/?p=636","title":{"rendered":"Robot Arm and Car Movement"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">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.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\">\n<p class=\"wp-block-paragraph\">This video hardcodes the low, middle and top apple positions and then a &#8220;parked&#8221; position. It also tests opening and closing of the gripper.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Robot Arm reaching each of the three apples and parking itself\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/gy-E1skIT2g?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Testing driving and the robot arm at the same time\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/tVIr4A-X7R4?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-medium\"><img loading=\"lazy\" decoding=\"async\" width=\"209\" height=\"300\" src=\"http:\/\/www.thelemmingfarm.uk\/wp-content\/uploads\/2022\/01\/controller-buttons_cropped-209x300.jpg\" alt=\"\" class=\"wp-image-637\" srcset=\"http:\/\/www.thelemmingfarm.uk\/wp-content\/uploads\/2022\/01\/controller-buttons_cropped-209x300.jpg 209w, http:\/\/www.thelemmingfarm.uk\/wp-content\/uploads\/2022\/01\/controller-buttons_cropped.jpg 608w\" sizes=\"auto, (max-width: 209px) 100vw, 209px\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\">\n<p class=\"wp-block-paragraph\">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.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">We needed to reduce the speed to 10% to give the fine movement and control necessary to line the gripper up.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Buttons were setup (&#8220;R1&#8221; &#8211; Open, &#8220;R2&#8221; &#8211; Close, &#8220;Square&#8221; &#8211; Bottom Apple, &#8220;Triangle&#8221; &#8211; Middle Apple, &#8220;Circle&#8221; &#8211; Top Apple, &#8220;Cross&#8221; &#8211; Park.<\/p>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>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<\/p>\n","protected":false},"author":1,"featured_media":637,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[11,7],"tags":[],"class_list":["post-636","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-coding","category-robot"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Robot Arm and Car Movement - The Lemming Farm<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"http:\/\/www.thelemmingfarm.uk\/?p=636\" \/>\n<meta property=\"og:locale\" content=\"en_GB\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Robot Arm and Car Movement - The Lemming Farm\" \/>\n<meta property=\"og:description\" content=\"With a completed robot arm this job was to add it to the robot and integrate with the PCA9685 servo board. 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