We are working on building a 3 jointed arm that will be used to pick ripe tomatoes from a plant.
Sensors connected to an Arduino collect a veriety of data to be used to moitor the enviroment of the plants.
The arm slides along the plants on a custom rail controlled by a stepper motor and Arduino.
The two Arduinos are connected to a Raspberry Pi. The Raspberry Pi is used to control the arm and the position of the carriage on the rail.
A camera on the carriage is used to identify the position of the plants. The camera interfaces with an Nvidia Jetson TK1.
The Raspberry Pi interfaces with the servos using a USB2AX.
Ax12 Library: https://pypi.python.org/pypi/pyax12
Will Doyle and Ben Plamondon