Dobot Expansion board Magician : Manual : Page 40

Arduino Kit Demo Description 10 DobotPixy Demo

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Critical Code Description

This demo uses Pixy vision sensor and Dobot Magician to pick and place cubes. The Dobot

library, SmartKit library, and Pixy library need to be called. Before debugging this Demo, please

select Dobot, SmartKit, and Pixy on the Sketch > Include Library menu.

NOTICE

Please long press the Key button on the back of base of Dobot Magician to operate the

homing procedure before debugging this Demo.

Initialization.

When setting the cube position, please connect Dobot Magician and DobotStudio.

And press the Unlock key on the Forearm and drag Dobot Magician to move to the

cube positions, then record their Cartesian coordinates from the operation panel

pane of DobotStudio page to write in this demo for picking and placing cube.

For details about the vision recognition initialization process, please see Appendix

D Vision Recognition Initialization Process.

Program 10.2 Initialization

SmartKit_VISSetAT(197.2155, 0.0679, 61.0561, 25.5385); //Set the Pixy position (Camera position)

SmartKit_VISSetPixyMatrix(11, 153, 44, 45, 135, 91, 45, 46, 260, 11, 47, 43); // Set the image coordinates

of the cubes

SmartKit_VISSetColorSignature(RED, 1); // Set the color signature of the cube

SmartKit_VISSetColorSignature(GREEN, 2);

SmartKit_VISSetColorSignature(BLUE, 3);

SmartKit_VISSetColorSignature(YELLOW, 4);

SmartKit_VISSetDobotMatrix(245.1905, -61.6963, 214.2730, 1.5698, 169.7256, 67.9938); //Set the

Cartesian coordinates of the cubes to obtain the rotation matrix based on the image coordinates and the Cartesian

coordinates.

SmartKit_VISSetGrapAreaZ(-65);

SmartKit_VISSetBlockTA(RED, 120, -135.9563, -66.9085, 0); // Set the placing position of the red

cube

SmartKit_VISSetBlockTA(GREEN, 160, -135.9563, -66.9085, 0);

SmartKit_VISSetBlockTA(BLUE, 200, -135.9563, -66.9085, 0);

SmartKit_VISSetBlockTA(YELLOW, 240, -135.9563, -66.9085, 0);

SmartKit_VISSetBlockHeight(RED, 26); // Set the cube height

SmartKit_VISSetBlockHeight(GREEN, 26);

SmartKit_VISSetBlockHeight(BLUE, 26);

SmartKit_VISSetBlockHeight(YELLOW, 26);

SmartKit_VISInit(); // Initial the Pixy

SmartKit_Init();