One of the biggest challenges in automating daffodil picking is to identify the location and maturity of the daffodils. We have built a gantry system complete with three degrees of motion, gripper and camera for you to use on this challenge. Using the targeting camera and machine vision techniques, your system should be able to locate and move towards the targeted stem, close the gripper to grasp the stem, and finally deposit the collected stem into the basket mounted to the side of the robot. OpenCV would be a great option for the machine vision. In the photo below, the idea daffodils to pick are the ones in the middle. We don't want to harvest them when they are fully yellow because they don't last very long when customers get them home, so try and aim for the light green. When ten stems have been collected the task is complete. Happy Coding!

1. Install Python 3.11.0 from https://www.python.org/downloads/release/python-3110/ the download links will be at the bottom of the page, download 32-bit or 64-bit dependent on your machine.
2. We recommend using visual studio code to manage the code in the project, this can be downloaded from https://code.visualstudio.com/
3. Install the python extension for Visual Studio Code, this can be done by clicking on the three blocks on the left side bar inside visual studio and searching for python, it will be the first one on the list which has the microsoft blue tick under it.
4. Restart your computer to ensure that python is fully installed and correctly PATHed
5. Download the pyserial package for python using "py -m pip install pyserial" py might also be just python dependent on how it was installed.

We have written a library to help you complete these tasks called "gantry.py" which contains several functions to move the gantry. The library contains an object called "Gantry" and for this example "Gantry" is being assigned to dafBot. For a good example of how all these functions work look at "example-move.py" as it is a pre written example of the code.

dafBot = Gantry(FCOM()) - This searches available COM ports on your pc and looks for the one with an arduino attached and then sets up an object called dafBot which is assigned to that COM port. IMPORTANT: this works (as far as I am aware) for all windows and linux PCs but has been untested on macs

dafBot.home_all() - This should be called before running any other code as it allows the Gantry to find a home position to work from, essentially it finds 0,0. There is individual home x,y,z however its easier to just home all to find 0,0 IMPORTANT: this should not be used to return to [0,0,0], only to set [0,0,0] as it is not efficient and uses unessasary components

dafBot.move([X,Y,Z],SPEED) - Moves the Gantry Head to a specific x,y,z coordinate IMPORTANT: the ranges of the head are: X = 0 to 730, Y = 0 to 440, Z = 0 to -240, we also recommend not turning the speed above 11000

dafBot.gripper_open() - Opens the gripper using the servos, has a 1 second delay after it opens to ensure it is fully open and working.

dafBot.gripper_close() - Closes the gripper, exact opposite of "gripper_open"

• Kernow Robotics.