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Readme.md

Program to drive larva picking robot.

Requires: - Basler Pylon GigE camera driver & viewer (http://www.baslerweb.com/en/products/software) - Python (2.7 - https://www.python.org/downloads/release/python-2712/) - Numpy (within \Python27\Scripts directory, run: "pip install numpy") - PySerial ("pip install pyserial") - OpenCV (https://sourceforge.net/projects/opencvlibrary/files/, extract, then copy cv2.pyd from \OpenCV\build\python\2.7 to \Python27\lib\site-packages) - SmoothieBoard drivers (if necessary - http://smoothieware.org/) - Pronterface (http://www.pronterface.com/) - Environment variables

Usage:

Test connection to robot using Pronterface. Should be able to home robot, then drive in X/Y/Z (positive directions in X/Y to start, negative in Z).

Should also be able to open solenoid valves with M42 and M44 commands (type into Pronterface). M43 / M45 close valves. M105 reads the pressure sensor.

Can add buttons in Pronterface for those actions.

Adjust flow control valves, shooting for a reading of ~48 when vacuum is open, and, ~20 for air.

Edit CameraCal.py and ImageCapture.py to use appropriate camera number in cv2.VideoCapture() call. If this is the only camera connected to the system, camera number should be 0.

ImageCapture.py -- displays live image of camera with margin overlay. Space bar saves image to file. Also useful to align camera.

ZHeightCal.py --- with agar gel in place, and the air/vac lines connected and turned on, run this program to calibrate Z height of bed.

CameraCal.py --- run this program and follow directions on screen to connect machine coordinates to camera image coordinates.

LarvaPicker.py --- watches for a change in the image file, grabs larvae that are in margin when image updates. Edit "instar" variable to adjust for size differences in larvae.

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