The Arduino code runs on Arduino Mega (2560 Rev 3).
To run the solution in /DobotCityBuilding_Arduino, you'll need to install one or both of the following libraries :
- REQUIRED ! DobotNet
- OPTIONAL ! LiquidCrystal_I2C
If you don't own an I2C LCD screen, or don't wish to install the LiquidCrystal_I2C library, you can simply remove the references to the LCD screen in the DobotCityBuilding_Arduino.ino file
Wire the devices to your Arduino board as follow :
- Connect the Dobot's RX and TX pins respectively on the Arduino's TX1 on RX1 pins. It allows the sending of command packets to the Dobot through its UART interface
- Connect the Dobot's EIO18 output pin to the Arduino's D2 pin. It allows the Arduino to keep track of a Dobot's working state
- Connect the Dobot's RX and TX pins respectively on the Arduino's TX2 on RX2 pins. Same reason as Dobot 0
- Connect the Dobot's EIO18 output pin to the Arduino's D3 pin. Same reason as Dobot 0
- Connect the HC06 module's TX pin to the Arduino's A10 pin
- Follow this scheme to wire your HC06's RX pin to the Arduino's A11 pin
- Connect the SDA and SCL pins of the microcontroller behind the screen to the SDA and SCL pins on the Arduino's Communication area
You're free to wire your GND and VCC lines whichever way you want. You can even power the Arduino board using the Dobots' 5V / 12V ouputs
The Python code runs on a computer connected to a camera with USB
To run the solution in /DobotCityBuilding_Monitor, you'll need to install the following libraries (ALL REQUIRED)
- ArucoCrop
- OpenCV -
pip install opencv-contrib-python - NumPy -
pip install numpy - Pillow -
pip install Pillow - Tkinter -
pip install tk
-
Print the A3 pages of which you can find the layouts in GlobalResources/MapsDesign/
-
Connect the camera to your computed through USB
Now that everything is wired up and being powered, you can upload the Arduino code onto the Mega board.
CAREFUL ! The dobots will automatically home themselves once the Arduino is being powered
Once that's done, you can run the Python program (main.py). If everything works correctly, you should see a window with the camera feed on screen.
Click the Next button once you see the four Aruco markers being highlighted on the feed, and validate when you're happy with the contours you detect by tweaking the two sliders
The rest is pretty straightforward. On the interface that opens next, you'll see the camera feed and the detected blocks. You can use the various buttons to interact wirelessly with the Arduino board