This week we continued testing and improving our end to end system (robot arm + vision/control modules). We improved the smoothness and time-efficiency of box pickups and drops via changes to the main control code. We also fixed some bugs with the PC-Arduino connection, coded handling for various edge cases, improved the accuracy of the control logic / commands sent, and finetuned the command sequences to match the new arm changes. We achieved an item sort rate of 7 per minute, such that were able to reliably sort a box and reset completely within 10s.
We plan to run our unit tests again and really finetune those accuracies, as well as continuing end-to-end testing and focusing very tightly on the command sequencing / PC-Arduino interfacing.
