forked from ShunFang-cart/ESP
20 lines
871 B
Markdown
20 lines
871 B
Markdown
### This repo contains resources of the adapted scissor (AS) for data collection
|
|
|
|
The expected AS is comprised of several part:
|
|
- scissor with handle easy to hold;
|
|
- circuit box with switches.
|
|
|
|
Functoins of each parts:
|
|
|
|
- scissor is integrated with the IMU performing cutting/holding the cherry tomato.
|
|
- switches + esp32, read data from IMU, read switch state, set scissor enable signal, etc.
|
|
|
|
Hardware wiring [here](https://nicecart-my.sharepoint.com/:p:/g/personal/zheng_liu_nicecart_ai/IQAd1vjTOFRTQJdIf7uh9ybCASTbYUrugCMrXxhclWS-Yn0?e=5wVPiN).
|
|
|
|
### Data Collection Workflow:
|
|
1. The AS is connected to the PC with usb. The D405 is activated. AGV connected to the PC.
|
|
2. Start picking process. Start data recoding, AGV moving forward.
|
|
3. Cherry tomato within reachable distance, pause the AGV.
|
|
4. The operator holds the AS, and picks up the potato.
|
|
5. Next loop ...
|