PhantomX Pincher || Colour Sorting With Pixy CMUcam5





The robot is going to sort 2 different types of boxes (yellow and red). The delivery point is going to have two lines, a yellow and a red one. Here the boxes have to be dropped and also they have to match the colour of the box with the colour of the line.

In order to solve this problem, the group is going to use a Pixy camera, CMUcam5, and a PhantomX Pincher Robot Arm. The robot arm is going to take the coloured box and place it in the front of the camera. The Pixy camera is going to see what color the box have and send the information to the Arduino board. When the information is send, the robot arm will move that box on the matching color line.

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Step 1: Part List || Things You'll Need

-The PhantomX Pincher Robot Arm kit + Assembly guide:

- Arduino IDE:

- Push button:
- Pixy CMUcam5:
- Electronic Brick - Fully Buckled 3 Wire Cable:

Step 2: Assemble Guide

Figure 1
Figure 1 shows our ArbotiX board.

- In the black circle you can see the D0 input to the arbotiX board. This is where the pushbutton sends signals.
- The orange circle shows where the cable goes to communicate with the Pixy CMUcam5.
- The blue circle demonstrates where we connect our usb connection, so it's possible to program the board.
- In the green circle it's shown where the first servo is connected. The next servo is connected through the first one.

Figure 2
Figure 2 shows our Pixy CMUcam5 board.

- The blue circle shows the usb connection.
- The yellow shows the communication link to the ArbotiX board.

Step 3: Code

Step 4: Youtube Video

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    2 Discussions


    2 years ago

    Is it possible, to teach the pixycam with colours and when the camera detects both colours at once, and how are you going to tell the robots to choose which colour signature first?


    3 years ago

    Cool robot, thanks for sharing!