We are finishing up on the CV part of our project. We were using some really complicated matrix algebra, but we are now trying out color recognition. We've painted the needle on the pick head, and from that we are able to find the needle. We then enclose that area in a rectangle and say we are interested in the bottom middle part of the rectangle. This gives us the tip of the needle where we will be picking up parts.

We do the same thing to the board we are placing parts on, and the parts we are placing. Nothing is painted here. We recognize the area the part will be place, and the part before we pick it up. Once the part is over the area it gets placed we correct for any error caused by rotating and the part is then placed.

So far this route has been a lot less complicated, but we will update after some testing and let you see the results!